WO2022068056A1 - 用于无人机的机械手 - Google Patents

用于无人机的机械手 Download PDF

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Publication number
WO2022068056A1
WO2022068056A1 PCT/CN2020/135006 CN2020135006W WO2022068056A1 WO 2022068056 A1 WO2022068056 A1 WO 2022068056A1 CN 2020135006 W CN2020135006 W CN 2020135006W WO 2022068056 A1 WO2022068056 A1 WO 2022068056A1
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WIPO (PCT)
Prior art keywords
battery
clamping
manipulator
arm
battery compartment
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/135006
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English (en)
French (fr)
Inventor
张松
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of WO2022068056A1 publication Critical patent/WO2022068056A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
    • B64F5/50—Handling or transporting aircraft components

Definitions

  • the present disclosure relates to the technical field of unmanned aerial vehicles, and in particular, to a manipulator for unmanned aerial vehicles.
  • the background technology of the field to which the present disclosure relates includes the preparation of the drone during the drone performance.
  • the existing solutions are generally manual for the layout of the drone, and the replacement of the battery of the drone during the preparation time is generally the same. Manual replacement.
  • the existing solution is generally manual for the layout of the drone, and the replacement of the drone battery during the preparation time is generally manual. It consumes a lot of manpower, and the time efficiency is low, and the positional accuracy of the arrangement is poor.
  • the technical problem to be solved by the present disclosure is how to provide a manipulator for unmanned aerial vehicles.
  • a manipulator for an unmanned aerial vehicle comprising a battery detachably disposed in a battery compartment; wherein the manipulator comprises a base, a manipulator arm, a clamping mechanism, and a replacement mechanism; the mechanical arm is pivotally connected to the base, and the mechanical arm can rotate relative to the base to make the attitude of the drone change from a first state to a second state; the clip
  • the holding mechanism is connected to the mechanical arm for holding the drone;
  • the replacement mechanism is used for disengaging or placing the battery in the battery compartment, and the replacement mechanism includes a support arm and a clamping portion;
  • the support arm is connected to the mechanical arm;
  • the clamping part is arranged on the support arm to clamp the battery; wherein, in response to the drone being in the first state or the second state,
  • the support arm can move the clamp portion to the battery compartment so that the clamp portion can disengage the battery from the battery compartment, or enable the clamp portion to seat the battery in the battery compartment. the battery compartment.
  • the support arm is rotatably connected to the mechanical arm
  • the clamping part includes a first clamping part and a second clamping part, the first clamping part and the first clamping part
  • Two clamping parts are respectively provided at both ends of the support arm; wherein, in response to the attitude of the drone being switched from the first state to the second state, the support arm can be rotated to make the first clamp
  • the holding portion moves to the battery compartment so that the first clamping portion can disengage the battery from the battery compartment; in response to the disengagement of the battery from the battery compartment, the support arm can rotate to enable all the The second clamping part moves to the battery compartment, so that the second clamping part can put another battery into the battery compartment.
  • the support arm is rotatably connected to the mechanical arm through a rotating shaft
  • the replacement mechanism further includes a first drive mechanism
  • the first drive mechanism includes a first power unit and a first transmission structure ; the first power unit is arranged on the mechanical arm; the first transmission structure is connected between the first power unit and the rotating shaft.
  • the support arm is fixedly connected to the mechanical arm, the support arm is provided with a pulley mechanism, and the clamping part includes a first clamping part and a second clamping part; wherein, In response to the attitude of the drone being switched from the first state to the second state, the support arm can drive the first clamping part to move to the battery compartment through the pulley mechanism, so that the first The clamping part can disengage the battery from the battery compartment; in response to the battery being disengaged from the battery compartment, the support arm can drive the second clamping part to move to the battery compartment through the pulley mechanism , so that the second clamping part can put another battery into the battery compartment.
  • the robotic arm includes a first robotic arm, a second robotic arm and a second driving mechanism; one end of the first robotic arm is rotatably connected to the base; the second robotic arm is rotatably connected to the other end of the first mechanical arm; the second driving mechanism is used to drive the first mechanical arm to rotate relative to the base, and to drive the second mechanical arm to rotate relative to the first mechanical arm rotate.
  • the rotation axis of the first robot arm relative to the base is parallel to the rotation axis of the second robot arm relative to the first robot arm; wherein the first robot arm is The extension direction of one of the robotic arm and the second robotic arm is perpendicular to the rotation axis, and the extension direction of the other of the first robotic arm and the second robotic arm is parallel to the rotation axis.
  • the rotation directions of the first robot arm and the second robot arm are opposite to each other.
  • the first mechanical arm is rotatably connected to the base through a first main shaft
  • the second mechanical arm is rotatably connected to the first mechanical arm through a second main shaft
  • the The second driving mechanism includes a second power unit and a second transmission structure; the second power unit is arranged on the base and is connected to the first main shaft in a driving manner; the second transmission structure is drivingly connected to the first main shaft. Between a main shaft and a second main shaft, the rotation direction of the first main shaft is transmitted to the second main shaft.
  • the second power unit includes a motor and a speed reducer; the motor is disposed on the base and has an output shaft; the output shaft is connected to the first through the speed reducer Spindle.
  • the second transmission structure includes a reversing shaft and a transmission belt; the reversing shaft is arranged on the base and is connected to the first main shaft through a reversing gear set;
  • the transmission belt is connected between the reversing shaft and the second main shaft.
  • the clamping mechanism includes a clamping frame and a blade clamping plate; the clamping frame is connected to the mechanical arm for clamping the drone; the blade clamping plate It is arranged on the clamping frame and is used for constricting the blades of the drone.
  • the clamping mechanism is movably connected to the mechanical arm through an adjustment mechanism, so that the clamping mechanism is in the first clamping portion and the second clamping portion.
  • the clamping mechanism moves relative to the replacement mechanism.
  • the adjustment mechanism includes a sliding rail, a sliding plate and an elastic member; the sliding rail is disposed on the mechanical arm; the sliding plate is connected to the clamping mechanism and slides with the sliding rail
  • the elastic member is connected between the sliding plate and the mechanical arm to apply elastic force to the sliding plate; wherein, when the elastic member is in a released state, the first or second clamping portion Located above the battery compartment, when the elastic member is in a compressed state, the first or second clamping portion at least partially overlaps with the battery compartment.
  • the adjustment mechanism includes a sliding rail, a sliding plate and a third driving mechanism;
  • the sliding rail is provided on the mechanical arm;
  • the sliding plate is connected to the clamping mechanism and is connected with the sliding
  • the rails are slidably matched;
  • the third driving mechanism is used for driving the sliding plate to slide along the sliding rail, so that the clamping mechanism can be adjusted to move relative to the replacement mechanism.
  • the manipulator for an unmanned aerial vehicle further comprises a mobile chassis; the mobile chassis has a running mechanism; wherein the base is arranged on the mobile chassis.
  • the manipulator for an unmanned aerial vehicle proposed by the present disclosure utilizes the robotic arm to change the attitude of the unmanned aerial vehicle from a first state to a second state, uses a clamping mechanism to clamp the unmanned aerial vehicle, and utilizes a replacement mechanism to disengage or place the battery in the battery compartment. Accordingly, the manipulator proposed by the present disclosure can respond to the drone being in the first state or the second state, and the support arm can move the clamping part to the battery compartment, so that the clamping part can release the battery from the battery compartment, or make the clamp The holder can place the battery in the battery compartment.
  • the present disclosure can realize the battery replacement of the drone at the same time during the attitude adjustment process such as the transfer of the drone, and the replacement efficiency is high.
  • FIG. 1 is a perspective view of a manipulator according to an exemplary embodiment
  • Fig. 2 is a perspective view of the manipulator shown in Fig. 1 from another angle;
  • Fig. 3 is the exploded perspective view of the manipulator shown in Fig. 1;
  • Fig. 4 is the exploded perspective view of another angle of the manipulator shown in Fig. 1;
  • Fig. 5 is the shafting sectional view of the manipulator shown in Fig. 1;
  • FIG. 6 is a schematic structural diagram of the manipulator shown in FIG. 1 gripping the drone in a first state
  • FIG. 7 is a schematic structural diagram of the manipulator shown in FIG. 1 gripping the drone in a second state
  • FIG. 8 is a front view of the manipulator shown in FIG. 1 .
  • the first spindle 410. Support arm;
  • the second robotic arm 411. The rotating shaft;
  • Second spindle 420. Clamping part;
  • Second drive mechanism 421. Gripper;
  • the second power unit 430.
  • the first drive mechanism 430.
  • the second transmission structure 431.
  • the first power unit
  • Blade splint 600. Unmanned aerial vehicle;
  • Adjustment mechanism 610. Battery compartment;
  • Example embodiments will now be described more fully with reference to the accompanying drawings.
  • Example embodiments can be embodied in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
  • the same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted.
  • FIG. 1 a perspective view of the manipulator proposed by the present disclosure is representatively shown.
  • the manipulator proposed in the present disclosure is described by taking the application of the unmanned aerial vehicle as an example. It will be easily understood by those skilled in the art that, in order to apply the related designs of the present disclosure to other types of equipment, various modifications, additions, substitutions, deletions or other changes may be made to the following specific embodiments, and these changes still remain It is within the scope of the principles of the manipulator proposed by the present disclosure.
  • the manipulator for the drone proposed by the present disclosure can be used to clamp the drone 600 to adjust the attitude of the drone 600 , and replace the drone during the adjustment process.
  • 600 battery 620 The drone 600 has a battery compartment 610 , and the drone 600 includes a battery 620 detachably disposed in the battery compartment 610 .
  • the manipulator includes a base 100 , a manipulator 200 , a clamping mechanism 300 and a replacement mechanism 400 . Referring to FIG. 2 to FIG. 8, FIG. 2 representatively shows a perspective view of another angle of the manipulator; FIG. 3 representatively shows an exploded perspective view of the manipulator; FIG. 4 representatively shows the manipulator An exploded perspective view from another angle; Fig.
  • FIG. 5 representatively shows the shafting sectional view of the manipulator
  • Fig. 6 representatively shows the structural schematic diagram of the manipulator gripping the unmanned aerial vehicle 600 in the first state
  • Figure 8 typically shows a schematic structural diagram of the manipulator gripping the drone 600 in the second state
  • Figure 8 typically shows a front view of the manipulator.
  • the robotic arm 200 is pivotally connected to the base 100 , and the robotic arm 200 can rotate relative to the base 100 to make the attitude of the drone 600 change from the first state to the second state.
  • the clamping mechanism 300 is connected to the robotic arm 200 for clamping the drone 600 .
  • the replacement mechanism 400 is used for disengaging or placing the battery 620 in the battery compartment 610 , and the replacement mechanism 400 includes a support arm 410 and a clamping portion 420 .
  • the support arm 410 is connected to the robot arm 200 ; the clamping portion 420 is disposed on the support arm 410 for clamping the battery 620 .
  • the support arm 410 can move the clamping part 420 to the battery compartment 610, so that the clamping part 420 can disengage the battery 620 from the battery compartment 610, Or the clamping part 420 can place the battery 620 in the battery compartment 610 .
  • the present disclosure can realize the replacement of the battery 620 of the drone 600 at the same time during the attitude adjustment process such as the transfer of the drone 600, and the replacement efficiency is high.
  • the support arm 410 can be rotatably connected to the mechanical arm 200 .
  • the clamping part 420 may include a first clamping part 420 and a second clamping part 420 , and the first clamping part 420 and the second clamping part 420 are respectively disposed on both ends of the support arm 410 .
  • the support arm 410 in response to the attitude transition of the drone 600 from the first state to the second state, the support arm 410 can be rotated to move the first clamping part 420 to the battery compartment 610 , and the first clamping part 420 The battery 620 can be removed from the battery compartment 610 .
  • the support arm 410 can be rotated to move the second clamping portion 420 to the battery compartment 610 so that the second clamping portion 420 can place another battery 620 into the battery compartment 610 .
  • the replacement mechanism 400 may further include a first drive mechanism 430 .
  • the first driving mechanism 430 includes a first power unit 431 and a first transmission structure 432.
  • the first power unit 431 is disposed on the robotic arm 200 to provide power for the rotation of the support arm 410 .
  • the first transmission structure 432 is connected between the first power unit 431 and the rotating shaft 411 for transmitting power between the first power unit 431 and the support arm 410 (the rotating shaft 411 ).
  • the first power unit 431 may include a motor having an output shaft.
  • the first transmission structure 432 may include a transmission belt, and the transmission belt is drivingly connected between the output shaft and the rotating shaft 411 .
  • the first power unit 431 and the first transmission structure 432 may also select other components, for example, a transmission gear set or other transmission components may be used to replace the transmission belt, which is not limited to this embodiment.
  • the support arm 410 is rotatably connected to the robot arm 200 for illustration as an example.
  • the support arm 410 and the robot arm 200 may also adopt other connection manners.
  • the support arm 410 may be movably connected to the robotic arm 200 .
  • the support arm 410 can be slidably matched by a sliding fitting structure such as a slideway and a slider, and the support arm 410 can be driven to slide relative to the mechanical arm 200 by a driving mechanism.
  • one or two clamping portions 420 may be provided on the support arm 410 . Accordingly, by controlling the sliding position of the support arm 410 relative to the mechanical arm 200, the desired clamping portion 420 can be selectively moved to the position of the battery compartment 610 of the drone 600, so that the clamping portion 420 can be used to complete the alignment Placement or removal of battery 620.
  • the support arm 410 may be connected to the robotic arm 200 in a fixed manner.
  • the support arm 410 may be provided with a transmission mechanism such as a pulley mechanism, and the clamping portion 420 may include a first clamping portion 420 and a second clamping portion 420 connected to the pulley mechanism.
  • the support arm 410 in response to the attitude change of the drone 600 from the first state to the second state, can drive the first clamping part 420 to move to the battery compartment 610 through the pulley mechanism, so that the first clamping part 420 can disengage the battery 620 from the battery compartment 610; in response to the disengagement of the battery 620 from the battery compartment 610, the support arm 410 can drive the second clamping part 420 to move to the battery compartment 610 through the pulley mechanism, so that the second clamping part 420 can Another battery 620 is placed in the battery compartment 610 .
  • each clamping portion 420 may include two clamping jaws 421 and a driving mechanism. Specifically, the two jaws 421 are arranged opposite to each other. The driving mechanism is used to drive the two gripping jaws 421 to move away from each other or towards each other, so that the two gripping jaws 421 can release or clamp the battery 620 of the drone 600 .
  • the clamping portion 420 may also adopt other structures, which is not limited to this embodiment.
  • the robotic arm 200 may include a first robotic arm 210 , a second robotic arm 220 and a second driving mechanism 230 .
  • first mechanical arm 210 is rotatably connected to the base 100.
  • the second robotic arm 220 is rotatably connected to the other end of the first robotic arm 210 .
  • the second driving mechanism 230 is used to drive the first mechanical arm 210 to rotate relative to the base 100 , and to drive the second mechanical arm 220 to rotate relative to the first mechanical arm 210 .
  • the first robotic arm 210 is relatively
  • the rotation axis of the base 100 may be parallel to the rotation axis of the second robotic arm 220 relative to the first robotic arm 210 .
  • the extension direction of the first mechanical arm 210 may be perpendicular to the rotation axis, and the extension direction of the second robot arm 220 may be parallel to the rotation axis.
  • the extending direction of the first manipulator 210 can also be parallel to the rotation axis, and the extending direction of the second manipulator 220 can also be perpendicular to the rotation axis. That is, the extension direction of one of the first robot arm 210 and the second robot arm 220 is perpendicular to the rotation axis, and the extension direction of the other one of the first robot arm 210 and the second robot arm 220 is parallel to the rotation axis , and is not limited to this embodiment.
  • the first robotic arm 210 and the The rotation directions of the two robotic arms 220 are opposite.
  • the first state of the drone 600 is a vertically hanging state
  • the second state of the drone 600 is a horizontally placed state as an example for description.
  • the application scenarios of the first state and the second state may be, for example, clamping, extracting, and transferring the UAV 600 hung in the hangar to a horizontal base such as a take-off platform.
  • the present disclosure can simultaneously realize the replacement of the battery 620 of the UAV 600, so that the UAV 600 placed horizontally on the take-off platform can quickly realize the take-off preparation, especially Therefore, the above-mentioned application can be applied to the occasion where the drones 600 are performing in groups, and can provide higher efficiency for the extraction of the drones 600 and the replacement of the battery 620 .
  • the first robotic arm 210 can be rotated through the first spindle 211 It is connected to the base 100 , and the second manipulator 220 can be rotatably connected to the first manipulator 210 through the second spindle 221 .
  • the second driving mechanism 230 may include a second power unit 231 and a second transmission structure 232 .
  • the second power unit 231 is disposed on the base 100 and is drivingly connected to the first main shaft 211 .
  • the second transmission structure 232 is drivingly connected between the first main shaft 211 and the second main shaft 221 to transmit the rotation direction of the first main shaft 211 to the second main shaft 221 .
  • the second power unit 231 may include a motor and a reducer.
  • the motor is provided on the base 100 and has an output shaft, and the output shaft of the motor is connected to the first main shaft 211 through a reducer.
  • the second transmission structure 232 may include a reversing shaft 2321 and a transmission belt.
  • the reversing shaft 2321 is disposed on the base 100 , and the reversing shaft 2321 is connected to the first main shaft 211 through a reversing gear set.
  • the transmission belt is connected between the reversing shaft 2321 and the second main shaft 221 to transmit power between the reversing shaft 2321 and the second main shaft 221 .
  • the perspective shown in the drawings is For example, the first robot arm 210 rotates clockwise relative to the base 100, and the second robot arm 220 (including the clamping mechanism 300 and the replacement mechanism 400 disposed on the second robot arm 220) is relative to the first robot arm 210 is rotated counterclockwise as an example to illustrate.
  • the first robotic arm 210 is rotated about 90° relative to the base 100, and the first The second robot arm 220 rotates approximately 180° relative to the first robot arm 210 (rotates 90° relative to the base 100 in space) as an example to illustrate.
  • the first manipulator 210 is relative to the base 100 and the first state.
  • the rotation direction and rotation angle of the second robotic arm 220 relative to the first robotic arm 210 can be flexibly adjusted, which are not limited to this embodiment.
  • the clamping mechanism 300 may include a clamping frame 310 and a blade clamping plate 320 .
  • the clamping frame 310 is connected to the robotic arm 200 for clamping the drone 600 .
  • the blade splint 320 is disposed on the clamping frame 310 for constricting the blades 630 of the drone 600 .
  • the drone 600 is described as an example in which the drone 600 is vertically hung in the hangar in the first state.
  • the clamping frame 310 can be passively clamped with an elastic snap-fit structure. Structural design.
  • the clamping frame 310 can utilize the engaging structure
  • the clamping and clamping with the drone 600 is realized.
  • the clamping frame 310 can also be designed as a clamping structure with an active clamping function (clamping and releasing), so as to realize the active clamping of the UAV 600, which is not the case in this embodiment. limit.
  • the clamping mechanism 300 may be movably connected to the mechanical arm 200 through the adjusting mechanism 330 , so that the clamping mechanism 300 is positioned at the first clamping portion 420 When the battery 620 and the second clamping part 420 are taken out and placed, they move relative to the replacement mechanism 400 .
  • the adjustment mechanism 330 may include a sliding rail 331 , a sliding plate 332 and an elastic member 333 .
  • the slide rail 331 is provided on the robot arm 200 .
  • the sliding plate 332 is connected to the clamping mechanism 300 and slidably matched with the sliding rail 331 .
  • the elastic member 333 is connected between the sliding plate 332 and the mechanical arm 200 for applying elastic force to the sliding plate 332 .
  • the first or second clamping portion 420 is located above the battery compartment 610, and in the compressed state of the elastic member 333, the first or second clamping portion 420 and the battery compartment 610 at least partially overlap , to complete the placement or clamping of the battery 620 .
  • the elastic member 333 can be a spring.
  • the elastic member 333 may also be an elastic structure such as an elastic sheet or a leaf spring, which is not limited to this embodiment.
  • the adjustment mechanism 330 includes the elastic member 333 as an example for description, that is, the adjustment mechanism 330 utilizes the elastic restoring force provided by the elastic member 333, and under normal conditions (for example, the clamping mechanism 300 is not stressed) While moving toward the replacement mechanism 400 ), a distance between the clamping mechanism 300 and the replacement mechanism 400 can be maintained, that is, a distance between the clamping portion 420 and the battery compartment 610 can be maintained.
  • the drone 600 when the drone 600 is adjusted to be in a substantially horizontal state, that is, when the drone 600 is placed flat on the take-off platform, the The action of the robotic arm 200 causes the replacement mechanism 400 to continue to move downward.
  • the robotic arm 200 and the clamping mechanism 300 face each other. Move, and the elastic member 333 compresses and accumulates elastic potential energy.
  • the robotic arm 200 moves toward the clamping mechanism 300 , so that the replacement mechanism 400 moves toward the clamping mechanism 300 , so that the clamping portion 420 moves to the battery compartment 610 of the drone 600 .
  • the replacement mechanism 400 can be moved back to the take-off platform with the robot arm 200 through the action of the robot arm 200.
  • the elastic member 333 releases the elastic potential energy, so that the clamping part 333 releases the elastic potential energy.
  • Mechanism 300 remains on the takeoff platform.
  • the adjusting mechanism 330 may also include a sliding rail 331 , a sliding plate 332 and a third driving mechanism.
  • the slide rail 331 is provided on the robot arm 200 .
  • the sliding plate 332 is connected to the clamping mechanism 300 and slidably matched with the sliding rail 331 .
  • the third driving mechanism is used for driving the sliding plate 332 to slide along the sliding rail 331 , so that the clamping mechanism 300 can be adjusted to move relative to the replacement mechanism 400 .
  • the present disclosure can also use an active driving method to control the relative displacement between the clamping mechanism 300 and the replacement mechanism 400 , that is, control the relative displacement between the battery 620 and the clamping portion 420 , which is not limited to this embodiment. .
  • the manipulator proposed by the present disclosure may further include a mobile chassis 500 , and the mobile chassis 500 has a running mechanism 510 .
  • the base 100 can be arranged on the mobile chassis 500 .
  • the manipulator proposed in the present disclosure can have the walking ability, so that the UAV 600 can be transported while the attitude of the UAV 600 is changed and the battery 620 is replaced.
  • manipulators for drones shown in the drawings and described in this specification are but a few examples of the many types of manipulators that can employ the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are by no means limited to any detail or any component of a manipulator for a drone shown in the drawings or described in this specification.
  • the manipulator for the UAV proposed in the present disclosure can at least realize the following functions of taking and placing batteries during the attitude adjustment process of the UAV.
  • the manipulator is used to take out the battery in the battery compartment, and then store or take out the drone;
  • the manipulator is used to take out the battery in the battery compartment and place a new battery, that is, the replacement of the battery, and then store or take out the drone.
  • the manipulator for the UAV proposed in the present disclosure utilizes the mechanical arm to make the attitude of the UAV change from the first state to the second state, clamps the UAV by the clamping mechanism, and utilizes the replacement mechanism Remove or place the battery in the battery compartment. Accordingly, the manipulator proposed by the present disclosure can respond to the drone being in the first state or the second state, and the support arm can move the clamping part to the battery compartment, so that the clamping part can release the battery from the battery compartment, or make the clamp The holder can place the battery in the battery compartment.
  • the present disclosure can realize the battery replacement of the drone at the same time during the attitude adjustment process such as the transfer of the drone, and the replacement efficiency is high.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Transportation (AREA)
  • Manufacturing & Machinery (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Manipulator (AREA)

Abstract

一种用于无人机的机械手，无人机(600)包括可拆卸地设置于电池仓(610)的电池(620)；机械手包含基座(100)、机械臂(200)、夹持机构(300)以及更换机构(400)；机械臂(200)枢转连接于基座(100)，机械臂(200)能够相对于基座(100)转动以使得无人机(600)的姿态从第一状态转换到第二状态；夹持机构(300)连接于机械臂(200)，用以夹持无人机(600)；更换机构(400)用以使电池(620)脱离或安置于电池仓(610)，更换机构(400)包含支撑臂(410)及夹持部(420)；支撑臂(410)连接于机械臂(200)；夹持部(420)设置于支撑臂(410)上，用以夹持电池(620)；其中，响应于无人机(600)处于第一状态或第二状态，支撑臂(410)能够使夹持部(420)运动至电池仓(610)，从而使夹持部(420)能够将电池(620)脱离电池仓(610)，或使夹持部(420)能够将电池(620)安置于电池仓(610)。

Description

用于无人机的机械手 技术领域
本公开涉及无人机技术领域，尤其涉及一种用于无人机的机械手。
背景技术
本公开所涉及的领域的背景技术包括无人机表演时的无人机准备，现有的方案对于无人机的布置一般都是人工布置，对于准备时间的无人机电池的更换，一般也是人工更换。
在现有的技术中大数量的无人机表演，现有的方案对于无人机的布置一般都是人工布置，对于准备时间的无人机电池的更换，一般也是人工更换。耗费人力较多，且时间效率低，布置的位置精度差。
发明内容
本公开所要解决的技术问题是如何提供一种用于无人机的机械手。
本公开的额外方面和优点将部分地在下面的描述中阐述，并且部分地将从描述中变得显然，或者可以通过本公开的实践而习得。
为实现上述目的，本公开采用如下技术方案：
根据本公开的一个方面，提供一种用于无人机的机械手，所述无人机包括可拆卸地设置于电池仓的电池；其中，所述机械手包含基座、机械臂、夹持机构以及更换机构；所述机械臂枢转连接于所述基座，所述机械臂能够相对于所述基座转动以使得所述无人机的姿态从第一状态转换到第二状态；所述夹持机构连接于所述机械臂，用以夹持所述无人机；所述更换机构用以使所述电池脱离或安置于所述电池仓，所述更换机构包含支撑臂及夹持部；所述支撑臂连接于所述机械臂；所述夹持部设置于所述支撑臂上，用以夹持所述电池；其中，响应于所述无人机处于第一状态或第二状态，所述支撑臂能够使所述夹持部运动至所述电池仓，从而使所述夹持部能够将所述电池脱离所述电池仓，或使所述夹持部能够将所述电池安置于所述电池仓。
根据本公开的其中一个实施方式，所述支撑臂转动连接于所述机械臂，所述夹持部包含第一夹持部和第二夹持部，所述第一夹持部和所述第二夹持部分别设置于所述支撑臂的两端部；其中，响应于所述无人机的姿态从第一状态转换到第二状态，所述支撑臂能够转动以使所述第一夹持部运动至所述电池仓，而使所述第一夹持部能够将所述电池脱离所述 电池仓；响应于所述电池从所述电池仓脱离，所述支撑臂能够转动以使得所述第二夹持部运动至所述电池仓，而使所述第二夹持部能够将另一电池放入所述电池仓。
根据本公开的其中一个实施方式，所述支撑臂通过转轴转动连接于所述机械臂，所述更换机构还包含第一驱动机构，所述第一驱动机构包含第一动力单元及第一传动结构；所述第一动力单元设置于所述机械臂；所述第一传动结构连接于所述第一动力单元与所述转轴之间。
根据本公开的其中一个实施方式，所述支撑臂固定连接于所述机械臂，所述支撑臂设置有皮带轮机构，所述夹持部包含第一夹持部和第二夹持部；其中，响应于所述无人机的姿态从第一状态转换到第二状态，所述支撑臂能够通过所述皮带轮机构带动所述第一夹持部运动至所述电池仓，而使所述第一夹持部能够将所述电池脱离所述电池仓；响应于所述电池从所述电池仓脱离，所述支撑臂能够通过所述皮带轮机构带动所述第二夹持部运动至所述电池仓，而使所述第二夹持部能够将另一电池放入所述电池仓。
根据本公开的其中一个实施方式，所述机械臂包含第一机械臂、第二机械臂以及第二驱动机构；所述第一机械臂一端转动连接于所述基座；所述第二机械臂转动连接于所述第一机械臂的另一端；所述第二驱动机构用以驱动所述第一机械臂相对所述基座旋转，并驱动所述第二机械臂相对所述第一机械臂旋转。
根据本公开的其中一个实施方式，所述第一机械臂相对于所述基座的转动轴线平行于所述第二机械臂相对于所述第一机械臂的转动轴线；其中，所述第一机械臂和所述第二机械臂的其中一者的延伸方向与转动轴线相垂直，所述第一机械臂和所述第二机械臂的其中另一者的延伸方向与转动轴线相平行。
根据本公开的其中一个实施方式，所述第一机械臂与所述第二机械臂的旋转方向相反。
根据本公开的其中一个实施方式，所述第一机械臂通过第一主轴转动连接于所述基座，所述第二机械臂通过第二主轴转动连接于所述第一机械臂；其中，所述第二驱动机构包含第二动力单元及第二传动结构；所述第二动力单元设置于所述基座并传动连接于所述第一主轴；所述第二传动结构传动连接于所述第一主轴与第二主轴之间，用以将所述第一主轴的转动换向传递至所述第二主轴。
根据本公开的其中一个实施方式，所述第二动力单元包含电机及减速器；所述电机设置于所述基座并具有输出轴；所述输出轴通过所述减速器连接于所述第一主轴。
根据本公开的其中一个实施方式，所述第二传动结构包含换向轴及传动皮带；所述换 向轴设置于所述基座，并通过换向齿轮组连接于所述第一主轴；所述传动皮带连接于所述换向轴与所述第二主轴之间。
根据本公开的其中一个实施方式，所述夹持机构包含夹持架及桨叶夹板；所述夹持架连接于所述机械臂，用以夹持所述无人机；所述桨叶夹板设置于所述夹持架上，用以收束所述无人机的桨叶。
根据本公开的其中一个实施方式，所述夹持机构通过调节机构可移动地连接于所述机械臂，以使所述夹持机构在所述第一夹持部和所述第二夹持部取放所述电池时，相对所述更换机构移动。
根据本公开的其中一个实施方式，所述调节机构包含滑轨、滑板及弹性件；所述滑轨设置于所述机械臂；所述滑板连接于所述夹持机构并与所述滑轨滑动配合；所述弹性件连接于所述滑板与所述机械臂之间，用以向所述滑板施加弹性力；其中，所述弹性件在释放状态下，所述第一或第二夹持部位于所述电池仓上方，所述弹性件在压缩状态下，所述第一或第二夹持部与所述电池仓至少部分重合。
根据本公开的其中一个实施方式，所述调节机构包含滑轨、滑板及第三驱动机构；所述滑轨设置于所述机械臂；所述滑板连接于所述夹持机构并与所述滑轨滑动配合；所述第三驱动机构用以驱动所述滑板沿所述滑轨滑动，而使所述夹持机构可调节地相对所述更换机构移动。
根据本公开的其中一个实施方式，所述用于无人机的机械手还包含移动底盘；所述移动底盘具有行走机构；其中，所述基座设置于所述移动底盘上。
本公开提出的用于无人机的机械手，利用机械臂使得无人机的姿态从第一状态转换到第二状态，利用夹持机构夹持无人机，并利用更换机构使电池脱离或安置于电池仓。据此，本公开提出的机械手能够响应于无人机处于第一状态或第二状态，支撑臂能够使夹持部运动至电池仓，从而使夹持部能够将电池脱离电池仓，或使夹持部能够将电池安置于电池仓。通过上述结构设计，本公开能够在无人机转运等姿态调整过程中，同时实现对无人机的电池更换，且更换效率较高。
附图说明
图1是根据一示例性实施方式示出的一种机械手的立体图；
图2是图1示出的机械手的另一角度的立体图；
图3是图1示出的机械手的分解立体图；
图4是图1示出的机械手的另一角度的分解立体图；
图5是图1示出的机械手的轴系剖面图；
图6是图1示出的机械手夹持处于第一状态的无人机的结构示意图；
图7是图1示出的机械手夹持处于第二状态的无人机的结构示意图；
图8是图1示出的机械手的正视图。
其中，附图标记说明如下：
100.基座；                               332.滑板；
200.机械臂；                             333.弹性件；
210.第一机械臂；                         400.更换机构；
211.第一主轴；                           410.支撑臂；
220.第二机械臂；                         411.转轴；
221.第二主轴；                           420.夹持部；
230.第二驱动机构；                       421.夹爪；
231.第二动力单元；                       430.第一驱动机构；
232.第二传动结构；                       431.第一动力单元；
2321.换向轴；                            432.第一传动结构；
300.夹持机构；                           500.移动底盘；
310.夹持架；                             510.行走机构；
320.桨叶夹板；                           600.无人机；
330.调节机构；                           610.电池仓；
331.滑轨；                               620.电池；
                                         630.桨叶。
具体实施方式
现在将参考附图更全面地描述示例实施方式。然而，示例实施方式能够以多种形式实施，且不应被理解为限于在此阐述的实施方式；相反，提供这些实施方式使得本公开将全面和完整，并将示例实施方式的构思全面地传达给本领域的技术人员。图中相同的附图标记表示相同或类似的结构，因而将省略它们的详细描述。
参阅图1，其代表性地示出了本公开提出的机械手的立体图。在该示例性实施方式中，本公开提出的机械手是以应用于无人机为例进行说明的。本领域技术人员容易理解的是，为将本公开的相关设计应用于其他类型的设备，而对下述的具体实施方式做出多种改型、 添加、替代、删除或其他变化，这些变化仍在本公开提出的机械手的原理的范围内。
如图1所示，在本实施方式中，本公开提出的用于无人机的机械手能够用于夹持无人机600以调整无人机600的姿态，并在调整过程中更换无人机600的电池620。其中，无人机600具有电池仓610，无人机600包括可拆卸地设置于电池仓610的电池620。机械手包含基座100、机械臂200、夹持机构300以及更换机构400。配合参阅图2至图8，图2中代表性地示出了机械手的另一角度的立体图；图3中代表性地示出了机械手的分解立体图；图4中代表性地示出了机械手的另一角度的分解立体图；图5中代表性地示出了机械手的轴系剖面图；图6中代表性地示出了机械手夹持处于第一状态的无人机600的结构示意图；图7中代表性地示出了机械手夹持处于第二状态的无人机600的结构示意图；图8中代表性地示出了机械手的正视图。以下将结合上述附图，对本公开提出的用于无人机的机械手的各主要组成部分的结构、连接方式和功能关系进行详细说明。
如图1至图8所示，机械臂200枢转连接于基座100，机械臂200能够相对于基座100转动以使得无人机600的姿态从第一状态转换到第二状态。夹持机构300连接于机械臂200，用以夹持无人机600。更换机构400用以使电池620脱离或安置于电池仓610，更换机构400包含支撑臂410及夹持部420。支撑臂410连接于机械臂200；夹持部420设置于支撑臂410上，用以夹持电池620。在此基础上，响应于无人机600处于第一状态或第二状态，支撑臂410能够使夹持部420运动至电池仓610，从而使夹持部420能够将电池620脱离电池仓610，或使夹持部420能够将电池620安置于电池仓610。通过上述结构设计，本公开能够在无人机600转运等姿态调整过程中，同时实现对无人机600的电池620更换，且更换效率较高。
可选地，如图1至图5所示，在本实施方式中，支撑臂410可以转动连接于机械臂200。夹持部420可以包含第一夹持部420和第二夹持部420，且第一夹持部420和第二夹持部420分别设置于支撑臂410的两端部。在此基础上，响应于无人机600的姿态从第一状态转换到第二状态，支撑臂410能够转动以使第一夹持部420运动至电池仓610，而使第一夹持部420能够将电池620脱离电池仓610。响应于电池620从电池仓610脱离，支撑臂410能够转动以使得第二夹持部420运动至电池仓610，而使第二夹持部420能够将另一电池620放入电池仓610。
进一步地，如图1至图5所示，基于支撑臂410转动连接于机械臂200的结构设计，在本实施方式中，支撑臂410可以通过转轴411转动连接于机械臂200。在此基础上，更换机构400还可以包含第一驱动机构430。具体而言，该第一驱动机构430包含第一动力 单元431及第一传动结构432。第一动力单元431设置于机械臂200，用以为支撑臂410的转动提供动力。第一传动结构432连接于第一动力单元431与转轴411之间，用以在第一动力单元431与支撑臂410(转轴411)之间传递动力。
进一步地，如图1至图5所示，基于更换机构400包含第一驱动机构430，且第一驱动机构430包含第一动力单元431及第一传动结构432的结构设计，在本实施方式中，第一动力单元431可以包含电机，电机具有输出轴。第一传动结构432可以包含传动皮带，传动皮带传动连接于输出轴与转轴411之间。在其他实施方式中，第一动力单元431和第一传动结构432亦可分别选择其他构件，例如可以采用传动齿轮组或者其他传动构件替代传动皮带，并不以本实施方式为限。
需说明的是，本实施方式中是以支撑臂410转动连接于机械臂200为例进行说明。在本公开的其他实施方式中，支撑臂410与机械臂200亦可采用其他连接方式。
举例而言，在另一实施方式中，支撑臂410可以采用可移动的方式连接于机械臂200。例如，支撑臂410可以通过滑道与滑块等滑动配合结构实现滑动配合，并可通过驱动机构驱动支撑臂410相对机械臂200滑动。在此基础上，支撑臂410上可以设置一个或者两个夹持部420。据此，通过控制支撑臂410相对机械臂200的滑动位置，可以选择性地将所需的夹持部420移动至无人机600的电池仓610的位置，从而利用该夹持部420完成对电池620的放置或者取出。
再如，在另一实施方式中，支撑臂410可以采用固定的方式连接于机械臂200。其中，支撑臂410可以设置有例如皮带轮机构的传动机构，夹持部420可以包含连接于皮带轮机构的第一夹持部420和第二夹持部420。在此基础上，响应于无人机600的姿态从第一状态转换到第二状态，支撑臂410能够通过皮带轮机构带动第一夹持部420运动至电池仓610，而使第一夹持部420能够将电池620脱离电池仓610；响应于电池620从电池仓610脱离，支撑臂410能够通过皮带轮机构带动第二夹持部420运动至电池仓610，而使第二夹持部420能够将另一电池620放入电池仓610。
可选地，如图1至图5所示，在本实施方式中，每个夹持部420可以包含两个夹爪421以及驱动机构。具体而言，两个夹爪421相对布置。驱动机构用以驱动两个夹爪421相背或者相向移动，以使得两个夹爪421能够松开或夹持无人机600的电池620。在其他实施方式中，夹持部420亦可采用其他结构，并不以本实施方式为限。
可选地，如图1至图5所示，在本实施方式中，机械臂200可以包含第一机械臂210、第二机械臂220以及第二驱动机构230。具体而言，第一机械臂210一端转动连接于基座 100。第二机械臂220转动连接于第一机械臂210的另一端。第二驱动机构230用以驱动第一机械臂210相对基座100旋转，并驱动第二机械臂220相对第一机械臂210旋转。
进一步地，如图1至图5所示，基于械臂包含第一机械臂210、第二机械臂220以及第二驱动机构230的结构设计，在本实施方式中，第一机械臂210相对于基座100的转动轴线，可以平行于第二机械臂220相对于第一机械臂210的转动轴线。在此基础上，第一机械臂210的延伸方向可以与转动轴线相垂直，第二机械臂220的延伸方向可以与转动轴线相平行。在其他实施方式中，第一机械臂210的延伸方向亦可与转动轴线相平行，第二机械臂220的延伸方向亦可与转动轴线相垂直。即，第一机械臂210和第二机械臂220的其中一者的延伸方向与转动轴线相垂直，第一机械臂210和第二机械臂220的其中另一者的延伸方向与转动轴线相平行，并不以本实施方式为限。
进一步地，如图6和图7所示，基于械臂包含第一机械臂210、第二机械臂220以及第二驱动机构230的结构设计，在本实施方式中，第一机械臂210与第二机械臂220的旋转方向相反。具体而言，本实施方式中是以无人机600的第一状态为竖直挂置的状态，且以无人机600的第二状态为水平放置的状态为例进行说明。上述第一状态与第二状态的应用场景可以例如为，将挂置在机库中的无人机600夹持提取并转移到起飞平台等水平基台上。在上述无人机600的姿态调整的过程中，本公开能够同时实现对无人机600的电池620的更换，从而使水平放置到起飞平台上的无人机600能够快速地实现起飞准备，特别地，上述应用能够适用于无人机600集群表演的场合中，能够为无人机600的提取和电池620更换提供较高的效率。
进一步地，如图1至图5所示，基于第一机械臂210与第二机械臂220的旋转方向相反的结构设计，在本实施方式中，第一机械臂210可以通过第一主轴211转动连接于基座100，且第二机械臂220可以通过第二主轴221转动连接于第一机械臂210。在此基础上，第二驱动机构230可以包含第二动力单元231及第二传动结构232。具体而言，第二动力单元231设置于基座100并传动连接于第一主轴211。第二传动结构232传动连接于第一主轴211与第二主轴221之间，用以将第一主轴211的转动换向传递至第二主轴221。
进一步地，如图1至图5所示，基于第二驱动机构230包含第二动力单元231的结构设计，在本实施方式中，第二动力单元231可以包含电机及减速器。具体而言，电机设置于基座100并具有输出轴，电机的输出轴通过减速器连接于第一主轴211。
进一步地，如图1至图5所示，基于第二驱动机构230包含第二传动结构232的结构设计，在本实施方式中，第二传动结构232可以包含换向轴2321及传动皮带。具体而言， 换向轴2321设置于基座100，换向轴2321通过换向齿轮组连接于第一主轴211。传动皮带连接于换向轴2321与第二主轴221之间，用以将在换向轴2321与第二主轴221之间传递动力。
需说明的是，如图6和图7所示，基于第一机械臂210的转动方向与第二机械臂220的转动方向相反的设计，在本实施方式中，以附图示出的视角为例，是以第一机械臂210相对于基座100顺时针旋转，且第二机械臂220(包含设置于第二机械臂220上的夹持机构300和更换机构400)相对于第一机械臂210逆时针旋转为例进行说明。进一步地，以无人机600的第一状态为竖直状态，且第二状态为水平状态为例，本实施方式中是以第一机械臂210相对于基座100旋转大致90°，且第二机械臂220相对于第一机械臂210旋转大致180°(在空间上相对于基座100旋转了90°)为例进行说明。在其他实施方式中，当本公开提出的机械手应用于其他场合，为适应无人机600的不同的第一状态和第二状态之间的调整，第一机械臂210相对于基座100和第二机械臂220相对于第一机械臂210的转动方向和转动角度均可灵活调整，均不以本实施方式为限。
可选地，如图1至图5所示，在本实施方式中，夹持机构300可以包含夹持架310及桨叶夹板320。具体而言，夹持架310连接于机械臂200，用以夹持无人机600。桨叶夹板320设置于夹持架310上，用以收束无人机600的桨叶630。
进一步地，基于夹持机构300包含夹持架310的结构设计，在本实施方式中，是以无人机600的第一状态为竖直挂置在机库内为例进行说明。在此基础上，由于机库悬挂无人机600的各排的位置的侧方均设置有竖直的隔板或者类似结构，因此该夹持架310可以采用具有弹性卡合结构的被动夹持结构设计。即，空置的夹持架310随机械手运动至待提取的无人机600的位置时，由于无人机600一侧抵靠在上述隔板等结构上，因此夹持架310能够利用卡合结构实现与无人机600的卡合夹持。在其他实施方式中，夹持架310亦可设计为具有主动夹持功能(夹紧和松脱)的夹持结构，从而实现对无人机600的主动夹持，并不以本实施方式为限。
可选地，如图1至图5所示，在本实施方式中，夹持机构300可以通过调节机构330可移动地连接于机械臂200，以使夹持机构300在第一夹持部420和第二夹持部420取放电池620时，相对于更换机构400移动。
进一步地，如图1至图5所示，基于夹持结构通过调节机构330连接于机械臂200的结构设计，在本实施方式中，调节机构330可以包含滑轨331、滑板332及弹性件333。具体而言，滑轨331设置于机械臂200。滑板332连接于夹持机构300并与滑轨331滑动 配合。弹性件333连接于滑板332与机械臂200之间，用以向滑板332施加弹性力。据此，弹性件333在释放状态下，第一或第二夹持部420位于电池仓610上方，弹性件333在压缩状态下，第一或第二夹持部420与电池仓610至少部分重合，以完成对电池620的放置或者夹取。
进一步地，如图1至图5所示，基于调节机构330包含弹性件333的结构设计，在本实施方式中，弹性件333可以选用弹簧。在其他实施方式中，弹性件333亦可选用弹片或者板簧等弹性结构，并不以本实施方式为限。
需说明的是，本实施方式中是以调节机构330包含弹性件333为例进行说明，即，调节机构330利用弹性件333提供的弹性回复力，在常态下(例如夹持机构300未受力而朝向更换机构400移动的状态)，能够保持夹持机构300与更换机构400之间存在间距，即保持夹持部420与电池仓610之间存在间距。结合本实施方式中的上述关于无人机600的第一状态与第二状态的具体示例，当无人机600调整为大致呈水平状态，即无人机600平放于起飞平台上时，通过机械臂200的动作，使得更换机构400随之继续向下移动，此时因夹持有无人机600的夹持机构300受下方的起飞平台的限制，使得机械臂200与夹持机构300相向移动，且弹性件333压缩积聚弹性势能。机械臂200与夹持机构300相向移动，使得更换机构400随之与夹持机构300相向移动，从而使夹持部420移动至无人机600的电池仓610。待夹持部420完成对电池620的放置或者夹取后，可以通过机械臂200的动作，使更换机构400随机械臂200背向起飞平台移动，此时弹性件333释放弹性势能，使夹持机构300仍然保持在起飞平台上。
在其他实施方式中，调节机构330亦可包含滑轨331、滑板332及第三驱动机构。具体而言，滑轨331设置于机械臂200。滑板332连接于夹持机构300并与滑轨331滑动配合。第三驱动机构用以驱动滑板332沿滑轨331滑动，而使夹持机构300可调节地相对更换机构400移动。即，本公开亦可采用主动驱动的方式，控制夹持机构300与更换机构400之间的相对位移，即控制电池620与夹持部420之间的相对位移，并不以本实施方式为限。
可选地，如图8所示，在本实施方式中，本公开提出的机械手还可以包含移动底盘500，且该移动底盘500具有行走机构510。在此基础上，基座100可以设置于移动底盘500上。通过上述结构设计，能够使本公开提出的机械手具备行走能力，从而在实现转换无人机600姿态并更换电池620的同时，能够实现对无人机600的转运。
在此应注意，附图中示出而且在本说明书中描述的用于无人机的机械手仅仅是能够采 用本公开原理的许多种机械手中的几个示例。应当清楚地理解，本公开的原理绝非仅限于附图中示出或本说明书中描述的用于无人机的机械手的任何细节或任何部件。
通过上述结构设计，本公开提出的用于无人机的机械手，至少能够实现以下针对无人机姿态调整过程中取放电池的功能。
无人机的电池仓内无电池，利用该机械手存放或者取出无人机，同时将电池放置于电池仓；
无人机的电池仓内有电池，利用该机械手存放或者取出无人机，同时将电池仓内的电池取出；
无人机的电池仓内有电池，利用该机械手存放或者取出无人机，同时将电池仓内的电池取出，并放置新的电池，即电池的更换；
无人机的电池仓内无电池，利用该机械手将电池放置于电池仓，然后存放或者取出无人机；
无人机的电池仓内有电池，利用该机械手将电池仓内的电池取出，然后存放或者取出无人机；
无人机的电池仓内有电池，利用该机械手将电池仓内的电池取出，并放置新的电池，即电池的更换，然后存放或者取出无人机。
综上所述，本公开提出的用于无人机的机械手，利用机械臂使得无人机的姿态从第一状态转换到第二状态，利用夹持机构夹持无人机，并利用更换机构使电池脱离或安置于电池仓。据此，本公开提出的机械手能够响应于无人机处于第一状态或第二状态，支撑臂能够使夹持部运动至电池仓，从而使夹持部能够将电池脱离电池仓，或使夹持部能够将电池安置于电池仓。通过上述结构设计，本公开能够在无人机转运等姿态调整过程中，同时实现对无人机的电池更换，且更换效率较高。
虽然已参照几个典型实施例描述了本公开，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本公开能够以多种形式具体实施而不脱离公开的精神或实质，所以应当理解，上述实施例不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。

Claims (15)

  1. 一种用于无人机的机械手，所述无人机包括可拆卸地设置于电池仓的电池，其特征在于：
    所述机械手包含基座、机械臂、夹持机构以及更换机构；
    所述机械臂枢转连接于所述基座，所述机械臂能够相对于所述基座转动以使得所述无人机的姿态从第一状态转换到第二状态；
    所述夹持机构连接于所述机械臂，用以夹持所述无人机；
    所述更换机构用以使所述电池脱离或安置于所述电池仓；
    所述更换机构包含支撑臂及夹持部；
    所述支撑臂连接于所述机械臂；
    所述夹持部设置于所述支撑臂上，用以夹持所述电池；
    其中，响应于所述无人机处于第一状态或第二状态，所述支撑臂能够使所述夹持部运动至所述电池仓，从而使所述夹持部能够将所述电池脱离所述电池仓，或使所述夹持部能够将所述电池安置于所述电池仓。
  2. 根据权利要求1所述的用于无人机的机械手，其特征在于：
    所述支撑臂转动连接于所述机械臂；
    所述夹持部包含第一夹持部和第二夹持部，所述第一夹持部和所述第二夹持部分别设置于所述支撑臂的两端部；
    其中，响应于所述无人机的姿态从第一状态转换到第二状态，所述支撑臂能够转动以使所述第一夹持部运动至所述电池仓，而使所述第一夹持部能够将所述电池脱离所述电池仓；响应于所述电池从所述电池仓脱离，所述支撑臂能够转动以使得所述第二夹持部运动至所述电池仓，而使所述第二夹持部能够将另一电池放入所述电池仓。
  3. 根据权利要求2所述的用于无人机的机械手，其特征在于：
    所述支撑臂通过转轴转动连接于所述机械臂；
    所述更换机构还包含第一驱动机构；
    所述第一驱动机构包含第一动力单元以及第一传动结构；
    所述第一动力单元设置于所述机械臂；
    所述第一传动结构连接于所述第一动力单元与所述转轴之间。
  4. 根据权利要求1所述的用于无人机的机械手，其特征在于：
    所述支撑臂固定连接于所述机械臂，所述支撑臂设置有皮带轮机构，所述夹持部包含第一夹持部和第二夹持部；
    其中，响应于所述无人机的姿态从第一状态转换到第二状态，所述支撑臂能够通过所述皮带轮机构带动所述第一夹持部运动至所述电池仓，而使所述第一夹持部能够将所述电池脱离所述电池仓；
    响应于所述电池从所述电池仓脱离，所述支撑臂能够通过所述皮带轮机构带动所述第二夹持部运动至所述电池仓，而使所述第二夹持部能够将另一电池放入所述电池仓。
  5. 根据权利要求1所述的用于无人机的机械手，其特征在于：
    所述机械臂包含第一机械臂、第二机械臂以及第二驱动机构；
    所述第一机械臂一端转动连接于所述基座；
    所述第二机械臂转动连接于所述第一机械臂的另一端；
    所述第二驱动机构用以驱动所述第一机械臂相对所述基座旋转，并驱动所述第二机械臂相对所述第一机械臂旋转。
  6. 根据权利要求5所述的用于无人机的机械手，其特征在于：
    所述第一机械臂相对于所述基座的转动轴线平行于所述第二机械臂相对于所述第一机械臂的转动轴线；
    其中，所述第一机械臂和所述第二机械臂的其中一者的延伸方向与转动轴线相垂直，所述第一机械臂和所述第二机械臂的其中另一者的延伸方向与转动轴线相平行。
  7. 根据权利要求5所述的用于无人机的机械手，其特征在于：
    所述第一机械臂与所述第二机械臂的旋转方向相反。
  8. 根据权利要求7所述的用于无人机的机械手，其特征在于：
    所述第一机械臂通过第一主轴转动连接于所述基座，所述第二机械臂通过第二主轴转动连接于所述第一机械臂；
    所述第二驱动机构包含第二动力单元以及第二传动结构；
    所述第二动力单元设置于所述基座并传动连接于所述第一主轴；
    所述第二传动结构传动连接于所述第一主轴与第二主轴之间，用以将所述第一主轴的转动换向传递至所述第二主轴。
  9. 根据权利要求8所述的用于无人机的机械手，其特征在于：
    所述第二动力单元包含电机以及减速器；
    所述电机设置于所述基座并具有输出轴；
    所述输出轴通过所述减速器连接于所述第一主轴。
  10. 根据权利要求8所述的用于无人机的机械手，其特征在于：
    所述第二传动结构包含换向轴以及传动皮带；
    所述换向轴设置于所述基座，并通过换向齿轮组连接于所述第一主轴；
    所述传动皮带连接于所述换向轴与所述第二主轴之间。
  11. 根据权利要求1所述的用于无人机的机械手，其特征在于：
    所述夹持机构包含夹持架以及桨叶夹板；
    所述夹持架连接于所述机械臂，用以夹持所述无人机；
    所述桨叶夹板设置于所述夹持架上，用以收束所述无人机的桨叶。
  12. 根据权利要求1所述的用于无人机的机械手，其特征在于：
    所述夹持机构通过调节机构可移动地连接于所述机械臂，以使所述夹持机构在所述第一夹持部和所述第二夹持部取放所述电池时，相对所述更换机构移动。
  13. 根据权利要求12所述的用于无人机的机械手，其特征在于：
    所述调节机构包含滑轨、滑板以及弹性件；
    所述滑轨设置于所述机械臂；
    所述滑板连接于所述夹持机构并与所述滑轨滑动配合；
    所述弹性件连接于所述滑板与所述机械臂之间，用以向所述滑板施加弹性力；
    其中，所述弹性件在释放状态下，所述第一或第二夹持部位于所述电池仓上方，所述 弹性件在压缩状态下，所述第一或第二夹持部与所述电池仓至少部分重合。
  14. 根据权利要求12所述的用于无人机的机械手，其特征在于：
    所述调节机构包含滑轨、滑板以及第三驱动机构；
    所述滑轨设置于所述机械臂；
    所述滑板连接于所述夹持机构并与所述滑轨滑动配合；
    所述第三驱动机构用以驱动所述滑板沿所述滑轨滑动，而使所述夹持机构可调节地相对所述更换机构移动。
  15. 根据权利要求1所述的用于无人机的机械手，其特征在于：
    所述用于无人机的机械手还包含移动底盘；
    所述移动底盘具有行走机构；
    其中，所述基座设置于所述移动底盘上。
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