CN218698916U

CN218698916U - Snatch manipulator of unmanned aerial vehicle casing

Info

Publication number: CN218698916U
Application number: CN202222983355.XU
Authority: CN
Inventors: 陈绍敏; 李江涛; 周岩; 贾岩龙; 程定山; 曾小义; 欧儒春; 蒲佳杭; 张峻尭; 赵虹钦
Original assignee: Chongqing Electric Power College
Current assignee: Chongqing Electric Power College
Priority date: 2022-11-09
Filing date: 2022-11-09
Publication date: 2023-03-24
Anticipated expiration: 2032-11-09

Abstract

The utility model discloses a manipulator for grabbing an unmanned aerial vehicle shell, which comprises a bottom plate for fixing a support frame, wherein an mechanical arm is arranged on the support frame in a rotating way, a connecting frame is arranged on the mechanical arm in a rotating way, a grabbing device is detachably arranged on the connecting frame, the grabbing device comprises a support group and an inflatable bag fixedly arranged on the support group, and the inflatable bag is communicated with an air pipe; during the use, the support group drives the gas cell and removes the corresponding position to unmanned aerial vehicle casing, is aerifyd for the gas cell by the trachea, and the gas cell inflation back props tight fixed product, drives the support group by the arm again and rotates and remove unmanned aerial vehicle casing and place to next process. The utility model discloses rotate and set up the link to set up inflatable balloon in the grabbing device of link, utilize the inflation and the shrink of balloon to realize taking the operation of getting the material to the unmanned aerial vehicle casing, when guaranteeing not to harm the unmanned aerial vehicle casing, also can improve the stability of snatching.

Description

Snatch manipulator of unmanned aerial vehicle casing

Technical Field

The utility model relates to an unmanned aerial vehicle produces technical field, in particular to snatch manipulator of unmanned aerial vehicle casing.

Background

The unmanned aerial vehicle shell is usually made of a material with light weight and high strength, and the material with high strength is usually accompanied with the characteristics of poor toughness and high brittleness, namely, when the unmanned aerial vehicle shell is impacted by strong force, the fracture and the breakage are easily caused due to the poor toughness of the forced deformation; at production unmanned aerial vehicle's in-process, especially in the industry corollary equipment of today, can frequently use and snatch the manipulator, but the position of snatching that snatchs the manipulator at present adopts not fragile metal material to make, when snatching the unmanned aerial vehicle casing, causes great allowable stress of resistance to compression easily to some fragile high strength products, consequently causes great injury to the unmanned aerial vehicle casing, has improved manufacturing cost and has influenced production efficiency.

SUMMERY OF THE UTILITY MODEL

To the not enough of above-mentioned prior art, the utility model aims to solve the technical problem that: the manipulator of the grabbing unmanned aerial vehicle shell can avoid damaging a product at a grabbing position.

In order to solve the technical problem, the utility model discloses a technical scheme be: the manipulator for grabbing the shell of the unmanned aerial vehicle comprises a bottom plate for fixing a support frame, wherein a mechanical arm is rotatably arranged on the support frame, a connecting frame is rotatably arranged on the mechanical arm, a grabbing device is detachably arranged on the connecting frame, the grabbing device comprises a support group and an inflatable bag fixedly arranged on the support group, and the inflatable bag is communicated with an air pipe; during the use, the support group drives the gas cell and removes the corresponding position of unmanned aerial vehicle casing product, is aerifyd for the gas cell by the trachea, and the gas cell inflation back props up fixed unmanned aerial vehicle casing tightly, drives the support group by the arm again and rotates and remove unmanned aerial vehicle casing and place to the next process.

By adopting the structure, the connecting frame arranged in a rotating way can ensure that the unmanned aerial vehicle shell on the gripping device does not rotate along with the rotation of the mechanical arm under the action of gravity and keeps the placing state when the unmanned aerial vehicle shell is gripped, so that the unmanned aerial vehicle shell can be conveniently received by using the same type of jig in the next process or other delivery positions, other jigs do not need to be manufactured, and the cost is saved; grabbing device includes the gas cell, utilizes the gas cell to aerify the principle of back inflation, implements the tight fixed form that expands to the corresponding position of unmanned aerial vehicle casing to rigid contact between manipulator and the unmanned aerial vehicle casing produces compressive stress and receives the damage of breaking, and simple structure is practical, the simple operation.

In order to simplify the structure and facilitate the installation, preferably, a machine box is arranged on the supporting frame, a power motor connected with a PLC (programmable logic controller) is fixedly arranged on one side in the machine box, and a driving tooth is arranged at the output end of the power motor; the other side in this machine box is equipped with the transmission shaft, the one end of transmission shaft is equipped with the driving tooth who is connected with the initiative tooth meshing, and the machine box is worn out to the other end, and the end of wearing out of this transmission shaft is connected fixedly with the arm.

In order to simplify the installation structure, as preferred one end on the arm is inlayed and is equipped with first bearing, the link includes that a pot head is established on first bearing and the connecting rod that the level stretches out, and the other end of this connecting rod is equipped with the connecting plate the position department that corresponds the connecting rod on the connecting plate inlays and is equipped with the second bearing, the pot head that stretches out of connecting rod is established on the second bearing the spiro union has the support group on the connecting plate.

In order to reduce occupied space and facilitate disassembly and assembly, the support group preferably comprises a first support and a second support, L-shaped step sections are arranged on the two supports, and the step surfaces of the vertical sections of the two step sections are mutually attached and placed and jointly fixed with the connecting plate in a screwed mode.

In order to simplify the installation structure and simultaneously ensure the air tightness so as to improve the grabbing stability, the grabbing device preferably further comprises at least one cross-shaped strut frame arranged on the two supports, each cross-shaped strut frame is in threaded connection with a cross-shaped slot frame, each end part of each slot frame is provided with an extension section extending downwards, a placing hole is formed in each extension section, an air storage cylinder communicated with an air pipe is arranged in each placing hole, and the lower end of each air storage cylinder is provided with an opening; the inflatable air bag is characterized in that a boss is arranged on one side of the extension section, an air channel communicated with the placing hole is formed in the boss, a clamping sleeve is sleeved on the outer side wall of the boss, a clamping groove is formed in the clamping sleeve, the opening edge of the inflatable air bag is embedded and fixed in the annular groove, and the inflatable air bag is communicated with the air channel.

Has the beneficial effects that: the utility model discloses rotate and set up the link to set up inflatable balloon in the grabbing device of link, utilize the inflation and the shrink of balloon to realize taking the operation of getting the material to the unmanned aerial vehicle subassembly, when guaranteeing not to harm the unmanned aerial vehicle subassembly, also can improve the stability of snatching.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a top view of FIG. 1

Fig. 3 is a schematic view of the mounting structure of the housing.

Fig. 4 is a schematic structural view of the grasping apparatus.

Fig. 5 is an enlarged view of a point a in fig. 4.

Fig. 6 is a usage state diagram of the present invention.

The meaning of the reference symbols in the drawings is:

a bottom plate-1; a support frame-2; a case-21; a power motor-22; a driving tooth-23; a drive shaft-24; a driving gear-25;

a mechanical arm-3; a first bearing-31; a connecting rod-32; a connecting plate-33; a second bearing-34;

a cross bracket-41; a tank frame-42; an extension segment-421; an air cylinder-43; boss-44; a vent groove-441; a card sleeve-45;

a balloon-51; a trachea-52; a first bracket-61; a second bracket-62.

Detailed Description

As shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, the present invention includes a bottom plate 1 for fixing a support frame 2, a machine box 21 is arranged on the support frame 2, a power motor 22 connected with a PLC controller is fixedly arranged at one side in the machine box 21, and an output end of the power motor 22 is provided with a driving tooth 23; a transmission shaft 24 is arranged at the other side in the machine box 21, one end of the transmission shaft 24 is provided with a transmission gear 25 meshed and connected with the driving gear, the other end of the transmission shaft passes through the machine box 21, and the penetrating end of the transmission shaft 24 is fixedly connected with the mechanical arm 3; a first bearing 31 is embedded in one end of the mechanical arm 3, the connecting frame comprises a connecting rod 32 which is sleeved on the first bearing 31 and extends horizontally, a connecting plate 33 is arranged at the other end of the connecting rod 32, a second bearing 34 is embedded in the position, corresponding to the connecting rod 32, of the connecting plate 33, the extending end of the connecting rod 32 is sleeved on the second bearing 34, and a support set is connected to the connecting plate 33 in a threaded mode.

The support group comprises a first support 61 and a second support 62, wherein L-shaped step sections are arranged on the two supports, and the step surfaces of the vertical sections of the two step sections are mutually attached and placed and jointly fixed with the connecting plate 33 in a threaded manner.

The two supports are provided with gripping devices, the gripping devices further comprise a cross-shaped strut 41 arranged on each support, each cross-shaped strut 41 is in threaded connection with a cross-shaped groove frame 42, each end part of the groove frame 42 is provided with an extension section 421 extending downwards, a placing hole is formed in the extension section 421, an air storage cylinder 43 communicated with an air pipe 52 is arranged in the placing hole, and the lower end of the air storage cylinder 43 is provided with an opening; a boss 44 is arranged on one side of the extension section 421, a vent groove 441 communicated with the placing hole is arranged in the boss 44, a clamping sleeve 45 is sleeved on the outer side wall of the boss 44, a clamping groove is arranged on the clamping sleeve 45, the opening edge of the inflatable bag 51 is embedded and fixed in the annular groove, and the inflatable bag 51 is communicated with the vent groove 441; during the use, the support group drives gas cell 51 and removes the corresponding position to unmanned aerial vehicle casing, is aerifyd for gas cell 51 by trachea 52, and gas cell 51 expands the back and props up fixed unmanned aerial vehicle casing tightly, drives the support group by arm 3 again and rotates and remove unmanned aerial vehicle casing and place to the next process.

The utility model discloses a theory of use as follows:

as shown in fig. 1 to 6, after a product (unmanned aerial vehicle housing) is finished by a process, a PLC controller (not shown) starts a power motor 22, a driving tooth 23 drives a transmission tooth 25 to rotate, and then a transmission shaft 24 drives a mechanical arm 3 to rotate, and a cradle 42 is moved to the product, and an inflatable bag 51 extends into a through hole preset at a corresponding position of the unmanned aerial vehicle housing, at this time, the power motor 22 is turned off, an air pump (not shown) connected with the PLC controller is started, an air cylinder 43 is inflated by an air pipe 52, air enters the inflatable bag 51 through an air groove 441, the inflatable bag 51 is inflated and then expands and abuts against the wall of the through hole on the product, when the inflatable bag 51 expands to a certain extent, the outer walls of four inflatable bags 51 on each strut 42 abut against the wall of the through hole at the corresponding position, the air pump is turned off, and the power motor 22 is started again, at the same time, the mechanical arm 3 drives the cradle 42 to turn over and lift up, and lift the product at the same time, the mechanical arm 24 turns over and moves synchronously, and the strut 42 is brought to a target position and put down; and closing the power motor 22 again, starting the air pump, pumping the air in the inflatable bag 51 out through the air pipe 52, shrinking the inflatable bag 51, separating the outer side wall from the hole wall of the product through hole, finally closing the air pump, starting the power motor 22 to drive the mechanical arm 3 to turn over to the standby position, and repeating the operation to clamp and move the product without rigid contact clamping.

It should be noted that, as shown in fig. 2, fig. 4 and fig. 6, in the whole moving process of the bracket 42, since two ends of the connecting rod 32 are respectively sleeved with the inner ring (not labeled) of the first bearing 31 on the robot arm 3 and the position of the second bearing 34 on the connecting plate 33, the bracket 42 is connected with the connecting plate 33, the connecting plate 33 is connected with the connecting rod 32, and since the outer ring of the bearing is fixedly installed, plus the action of gravity and the relative rotation between the inner ring and the outer ring (not labeled) of the two bearings, while the robot arm 3 rotates, the connecting rod 32 remains non-rotating, i.e. the bracket 42 always maintains the initial horizontal state, so that in the process of the turning moving, the instant impulse generated by the angle change of the product and the separation from the airbag 51 can also be prevented; meanwhile, scratch marks between the positions of the gripping clamps and the product are avoided, and the appearance quality of the product can be ensured under the condition that the product is not broken and damaged due to compression stress generated by rigid contact.

In addition, on the premise that the support frame 42 is not turned over, the air pipe 52 can be prevented from being wound due to turning over, the use safety is improved, the next process or other delivery positions can be conveniently received by using the jig with the same style, other jigs do not need to be manufactured, and the cost is saved.

The action and the stroke parameters of the components are set in the PLC after being debugged, so that the use automation is realized, and the details are not repeated.

Claims

1. The utility model provides a snatch manipulator of unmanned aerial vehicle casing which characterized in that: the device comprises a bottom plate (1) for fixing a support frame (2), a mechanical arm (3) is rotatably arranged on the support frame (2), a connecting frame is rotatably arranged on the mechanical arm (3), a grabbing device is detachably arranged on the connecting frame, the grabbing device comprises a support group and an inflatable bag (51) fixedly arranged on the support group, and an air pipe (52) is communicated with the inflatable bag (51); when the support is used, the support group drives the inflatable bag (51) to move to a corresponding position of a product, the inflatable bag (51) is inflated by the air pipe (52), the product is tightly supported and fixed after the inflatable bag (51) is inflated, and then the mechanical arm (3) drives the support group to rotate and move the product to a next procedure for placement.

2. A robot hand for gripping a casing of an unmanned aerial vehicle according to claim 1, wherein: a machine box (21) is arranged on the support frame (2), a power motor (22) connected with a PLC (programmable logic controller) is fixedly arranged on one side in the machine box (21), and a driving tooth (23) is arranged at the output end of the power motor (22); a transmission shaft (24) is arranged on the other side in the machine box (21), one end of the transmission shaft (24) is provided with a transmission gear (25) meshed with the driving gear, the other end of the transmission shaft penetrates through the machine box (21), and the penetrating end of the transmission shaft (24) is fixedly connected with the mechanical arm (3).

3. A robot for gripping an unmanned aerial vehicle casing as claimed in claim 2, wherein: one end on arm (3) is inlayed and is equipped with first bearing (31), the link includes that a pot head establishes connecting rod (32) that just the level stretches out on first bearing (31), and the other end of this connecting rod (32) is equipped with connecting plate (33) the position department that corresponds connecting rod (32) on connecting plate (33) inlays and is equipped with second bearing (34), the pot head that stretches out of connecting rod (32) establishes on second bearing (34) the spiro union has a support group on connecting plate (33).

4. A robot for gripping a housing of an unmanned aerial vehicle as claimed in claim 3, wherein: the support group comprises a first support (61) and a second support (62), wherein the two supports are provided with L-shaped step sections, and the step surfaces of the two vertical sections of the two step sections are mutually attached and placed and jointly fixed with a connecting plate (33) in a threaded manner.

5. A robot for gripping a housing of an unmanned aerial vehicle as claimed in claim 4, wherein: the grabbing device further comprises at least one cross-shaped strut (41) arranged on the two supports, each cross-shaped strut (41) is connected with a cross-shaped trough frame (42) in a threaded mode, each end portion of each trough frame (42) is provided with an extension section (421) extending downwards, a placing hole is formed in each extension section (421), an air storage cylinder (43) communicated with an air pipe (52) is arranged in each placing hole, and an opening is formed in the lower end of each air storage cylinder (43); a boss (44) is arranged on one side of the extension section (421), a vent groove (441) communicated with the placing hole is formed in the boss (44), a clamping sleeve (45) is sleeved on the outer side wall of the boss (44), a clamping groove is formed in the clamping sleeve (45), the opening edge of the inflatable bag (51) is fixedly embedded in the annular groove, and the inflatable bag (51) is communicated with the vent groove (441).