阅读说明：本技术 一种多旋翼无人机用机械臂及多旋翼无人机 (Many rotor are arm and many rotor unmanned aerial vehicle for unmanned aerial vehicle ) 是由 龚帮民 艾剑良 于 2021-08-24 设计创作，主要内容包括：本发明公开了一种多旋翼无人机用机械臂及多旋翼无人机,属于无人机领域,机械臂包括安装板、舵机、夹爪、夹爪支架和夹爪驱动装置；舵机的输出轴上固定安装有舵机支架,舵机支架、舵机中的一个与安装板固定连接；夹爪可转动地连接在夹爪支架上,夹爪支架则与舵机支架、舵机中的另一个固定连接；夹爪有两个且相互配合使用,夹爪驱动装置固定安装在夹爪支架上,且夹爪驱动装置与两个夹爪驱动连接以带动两个夹爪同步反向运动。多旋翼无人机则包括机身、脚架、机臂和旋翼组件以及安装在机身上的机械臂。本发明中的机械臂通过舵机和夹爪的设置,使无人机能够在飞行状态下抓取物体,并且确保无人机的飞行不受影响。(The invention discloses a mechanical arm for a multi-rotor unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicles, wherein the mechanical arm comprises a mounting plate, a steering engine, a clamping jaw bracket and a clamping jaw driving device; a steering engine bracket is fixedly arranged on an output shaft of the steering engine, and one of the steering engine bracket and the steering engine is fixedly connected with the mounting plate; the clamping jaw is rotatably connected to the clamping jaw support, and the clamping jaw support is fixedly connected with the other one of the steering engine support and the steering engine; the clamping jaw has two and uses mutually supporting, and clamping jaw drive arrangement fixed mounting is on the clamping jaw support, and clamping jaw drive arrangement and two clamping jaw drives and is connected in order to drive two clamping jaw synchronous reverse motion. Many rotor unmanned aerial vehicle then includes fuselage, foot rest, horn and rotor subassembly and installs the arm on the fuselage. According to the invention, the mechanical arm enables the unmanned aerial vehicle to grab objects in a flying state through the arrangement of the steering engine and the clamping jaw, and the flying of the unmanned aerial vehicle is not influenced.)

1. The utility model provides a many arms for rotor unmanned aerial vehicle which characterized in that: the clamping jaw driving device comprises a mounting plate, a steering engine, a clamping jaw bracket and a clamping jaw driving device; a steering engine bracket is fixedly mounted on an output shaft of the steering engine, and one of the steering engine bracket and the steering engine is fixedly connected with the mounting plate; the clamping jaw is rotatably connected to the clamping jaw support, and the clamping jaw support is fixedly connected with the other one of the steering engine support and the steering engine; the clamping jaw has two and uses mutually supporting, clamping jaw drive arrangement fixed mounting be in on the clamping jaw support, just clamping jaw drive arrangement and two clamping jaw drive is connected in order to drive two the synchronous reverse motion of clamping jaw.

2. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 1, wherein: the steering engine is a double-shaft steering engine.

3. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 1, wherein: the clamping jaw driving device comprises an opening and closing motor, a driving gear is mounted on an output shaft of the opening and closing motor, driven gears matched with the driving gear are mounted on the two clamping jaws, or tooth profiles meshed with the driving gear are arranged on the two clamping jaws.

4. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 3, wherein: the clamping jaw comprises at least two arc-shaped claw pieces which are arranged at intervals along the rotating axis of the clamping jaw, the adjacent two arc-shaped claw pieces are fixed through a connecting rod, and the two arc-shaped claw pieces are respectively and rotatably connected to the two sides of the clamping jaw support.

5. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 4, wherein: both ends of the connecting rod are provided with threaded holes, the arc-shaped claw pieces are provided with screw through holes, and the connecting rod is detachably and fixedly connected with the arc-shaped claw pieces through screws.

6. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 5, wherein: three screw through holes are arranged on the arc-shaped claw sheet at intervals.

7. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 4, wherein: and teeth are arranged on the inner side wall of the arc-shaped claw piece.

8. The mechanical arm for a multi-rotor unmanned aerial vehicle according to claim 1, wherein: the clamp jaw device further comprises a detector for detecting a target, wherein the detector is fixedly installed on the clamp jaw support.

9. A robot arm for a multi-rotor unmanned aerial vehicle according to any one of claims 1 to 8, wherein: the steering wheel is configured with at least two, at least two the steering wheel passes through the steering wheel support connects gradually, and is whole the output shaft of steering wheel is parallel to each other.

10. The utility model provides a many rotor unmanned aerial vehicle, includes fuselage, foot rest, horn and rotor subassembly, its characterized in that: the robot body is also provided with a mechanical arm for the multi-rotor unmanned aerial vehicle according to any one of claims 1 to 9.

Technical Field

The invention relates to the field of unmanned aerial vehicles, in particular to a mechanical arm for a multi-rotor unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle.

Background

Unmanned aircraft is called unmanned aerial vehicle for short, commonly called: unmanned planes, unmanned aerial vehicles, unmanned combat airplanes, and bee-type machines; the airplane is a wide range of remote control aircrafts without the need of a pilot to board and pilot, and is generally in particular to an unmanned reconnaissance airplane of the military. Unmanned aerial vehicle is unmanned vehicles's general name in fact, and is categorised according to the flight platform configuration, and unmanned aerial vehicle can divide into fixed wing unmanned aerial vehicle, rotor unmanned aerial vehicle, unmanned dirigible, umbrella wing unmanned aerial vehicle, flapping wing unmanned aerial vehicle etc.. Compared with manned aircraft, the unmanned aerial vehicle has the advantages of small volume, low cost, convenient use, low requirement on the operation environment, strong battlefield viability and the like.

A multi-rotor drone is a special drone helicopter with three and more rotor shafts that rotate with rotors driven by the rotation of each shaft's motor to produce lift/thrust. The collective pitch of unmanned aerial vehicle rotor is fixed, and is not as variable as ordinary helicopter, and unmanned aerial vehicle can change the size of unipolar propulsive force through changing the relative speed between the different rotors during flight to control aircraft's orbit.

Many rotor unmanned aerial vehicle has the nature controlled strong, but the characteristics of VTOL and hover, mainly is applicable to low latitude, low-speed, have the task type of VTOL and hover requirement. Hovering is the main characteristic of multi-rotor unmanned aerial vehicles and carries out mission operations. Many rotor unmanned aerial vehicle's application scene constantly improves, and the task degree is more and more complicated, consequently need reequip the operation to many rotor unmanned aerial vehicle, to different task design structure module.

For example, traditional many rotor unmanned aerial vehicle can't carry out the object and snatch the activity, can not carry out accurate location to the target, leads to many rotor unmanned aerial vehicle activity duration to lengthen, and the operation effect worsens, hangs to stop for a long time low latitude even and causes many rotor unmanned aerial vehicle crash easily for unmanned aerial vehicle is impaired.

Disclosure of Invention

Aiming at the problem that a multi-rotor unmanned aerial vehicle in the prior art is not convenient for object grabbing activities, the invention aims to provide a mechanical arm for the multi-rotor unmanned aerial vehicle and the multi-rotor unmanned aerial vehicle.

In order to achieve the purpose, the technical scheme of the invention is as follows:

on one hand, the invention provides a mechanical arm for a multi-rotor unmanned aerial vehicle, which comprises a mounting plate, a steering engine, a clamping jaw bracket and a clamping jaw driving device, wherein the clamping jaw driving device is arranged on the mounting plate; a steering engine bracket is fixedly mounted on an output shaft of the steering engine, and one of the steering engine bracket and the steering engine is fixedly connected with the mounting plate; the clamping jaw is rotatably connected to the clamping jaw support, and the clamping jaw support is fixedly connected with the other one of the steering engine support and the steering engine; the clamping jaw has two and uses mutually supporting, clamping jaw drive arrangement fixed mounting be in on the clamping jaw support, just clamping jaw drive arrangement and two clamping jaw drive is connected in order to drive two the synchronous reverse motion of clamping jaw.

Preferably, the steering engine is a double-shaft steering engine.

Preferably, the clamping jaw driving device comprises an opening and closing motor, a driving gear is mounted on an output shaft of the opening and closing motor, driven gears matched with the driving gear are mounted on the two clamping jaws, or tooth profiles meshed with the driving gear are arranged on the two clamping jaws.

Preferably, the clamping jaw comprises at least two arc-shaped claw sheets which are arranged at intervals along the rotating axis of the clamping jaw, two adjacent arc-shaped claw sheets are fixed through a connecting rod, and the two arc-shaped claw sheets are respectively and rotatably connected to two sides of the clamping jaw support.

Preferably, both ends of connecting rod all are provided with the screw hole, be provided with the screw perforation on the arc claw piece, the connecting rod pass through the screw with fixed connection can be dismantled to the arc claw piece.

Preferably, three screw through holes are arranged on the arc-shaped claw sheet at intervals.

Preferably, teeth are arranged on the inner side wall of the arc-shaped claw piece.

Furthermore, the device also comprises a detector for detecting a target, wherein the detector is fixedly arranged on the clamping jaw bracket.

Preferably, the steering wheel is configured with at least two, and at least two the steering wheel passes through the steering wheel support connects gradually, and all the output shaft of steering wheel is parallel to each other.

On the other hand, the invention further provides the multi-rotor unmanned aerial vehicle which comprises a vehicle body, foot frames, a vehicle arm and a rotor wing assembly, wherein the vehicle body is further provided with the mechanical arm for the multi-rotor unmanned aerial vehicle.

By adopting the technical scheme, due to the arrangement of the steering engine, the clamping jaw and the clamping jaw driving device in the mechanical arm, after the multi-rotor unmanned aerial vehicle hovers, the pitching angle of the clamping jaw can be changed through the rotation of the steering engine, so that the clamping jaw can correctly point to a target to be clamped; and the clamping jaw drive arrangement's setting makes two clamping jaws that cooperate to use can open, close the motion to centre gripping and unclamping the target, accomplish the object and snatch.

Drawings

Fig. 1 is a schematic structural view of a robot arm for a multi-rotor unmanned aerial vehicle according to the present invention;

FIG. 2 is a side view of a jaw in a robot arm for a multi-rotor drone in accordance with the present invention;

FIG. 3 is a schematic view of another embodiment of a robot arm for a multi-rotor unmanned aerial vehicle according to the present invention;

fig. 4 is a schematic structural view of a multi-rotor drone according to the present invention.

In the figure, the robot comprises a mounting plate 1, a steering engine 2, a clamping jaw 3, an arc-shaped clamping jaw piece 31, a connecting rod 32, a clamping jaw support 4, a clamping jaw driving device 5, a steering engine support 6, a detector 7, a body 10, a foot rest 20, a horn 30, a rotor wing assembly 40 and a cable 50.

Detailed Description

The following further describes embodiments of the present invention with reference to the drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "front", "rear", and the like indicate orientations or positional relationships based on structures shown in the drawings, and are only used for convenience in describing the present invention, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

In the technical scheme, the terms "first" and "second" are only used for referring to the same or similar structures or corresponding structures with similar functions, and are not used for ranking the importance of the structures, or comparing the sizes or other meanings.

In addition, unless expressly stated or limited otherwise, the terms "mounted" and "connected" are to be construed broadly, e.g., the connection may be a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; the two structures can be directly connected or indirectly connected through an intermediate medium, and the two structures can be communicated with each other. To those skilled in the art, the specific meanings of the above terms in the present invention can be understood in light of the present general concepts, in connection with the specific context of the scheme.

Example one

A mechanical arm for a multi-rotor unmanned aerial vehicle is shown in figures 1 and 2 and comprises a mounting plate 1, a steering engine 2, a clamping jaw 3, a clamping jaw bracket 4 and a clamping jaw driving device 5.

Wherein, steering wheel 2 is preferably the biax steering wheel, respectively has an output shaft on its two relative lateral walls, and two output shafts coaxial arrangement. A steering engine support 6 is fixedly installed on an output shaft of the steering engine 2, correspondingly, the steering engine support 6 is configured to be a door-shaped or half-frame-shaped support, and two opposite side walls of the support are fixedly connected with one output shaft of the steering engine 2 respectively. It will be appreciated that it is also possible that the steering engine 2 is a single shaft steering engine.

One of the steering engine support 6 and the steering engine 2 is fixedly connected with the mounting plate 1, in this embodiment, the steering engine support 6 and the mounting plate 1 are preferably detachably and fixedly connected through bolts, the steering engine support 6 is fixed on the bottom surface of the mounting plate 1, and the top surface of the mounting plate 1 is used for being connected to the bottom surface of the unmanned aerial vehicle body when in use.

Clamping jaw support 4 then with steering wheel support 6, steering wheel 2 another fixed connection in, in this embodiment, clamping jaw support 4 then is through the bolt detachable connection on the lateral wall of steering wheel 2. The clamping jaw 3 is rotatably connected to the side wall of the clamping jaw support 4 through a pin shaft or a screw rod, for example, a pin hole for mounting the pin shaft or a threaded hole for connecting the screw rod is formed in the side wall of the clamping jaw support 4, and a through hole for the pin shaft or the screw rod to pass through is correspondingly formed in the clamping jaw 3. It is easy to understand that the clamping jaw 3 is provided with two clamping jaws 3, and the two clamping jaws 3 are symmetrically arranged on the clamping jaw support 4 so that the two clamping jaws 3 can be used in cooperation with each other, and the plane where the rotation axis of the clamping jaw 3 is located is parallel to the plane where the output shaft of the steering engine 2 is located, for example, both are located in a horizontal plane, and in this embodiment, it is preferable that the rotation axis of the clamping jaw 3 is perpendicular to the output shaft of the steering engine 2. In this embodiment, the clamping jaw support 4 is also configured to be door-shaped or half-frame-shaped, and includes two side walls and a top wall connected between the two side walls, and the clamping jaw 3 is rotatably connected through the two side walls of the clamping jaw support 4, and the two clamping jaws 3 are respectively located at two ends of the clamping jaw support 4.

The clamping jaw driving device 5 is fixedly installed on one side of the bottom surface of the clamping jaw support 4, and the clamping jaw driving device 5 is in driving connection with the two clamping jaws 3 to drive the two clamping jaws 3 to move in the opposite directions synchronously. For example, in this embodiment, the clamping jaw driving device 5 includes an opening and closing motor, such as a reduction motor or a stepping motor, a driving gear is installed on an output shaft of the opening and closing motor, and correspondingly, driven gears adapted to the driving gear are installed on the two clamping jaws 3, or tooth profiles engaged with the driving gear are installed on the two clamping jaws 3.

In this embodiment, the configuration clamping jaw 3 comprises at least two arc-shaped clamping jaw pieces 31 arranged at intervals along the rotation axis of the clamping jaw 3, two adjacent arc-shaped clamping jaw pieces 31 are fixed through a connecting rod 32, and the two arc-shaped clamping jaw pieces 31 in the clamping jaw 3 are respectively rotatably connected to two sides of the clamping jaw support 4. Wherein, the both ends of connecting rod 32 all are provided with the screw hole, are provided with the screw perforation on the arc claw piece 31 to fixed connection can be dismantled through screw and arc claw piece 31 to connecting rod 32, thereby constitute clamping jaw 3. Preferably, three screw through holes are arranged on the arc-shaped claw pieces 31 at intervals, so that two adjacent arc-shaped claw pieces 31 are fixedly connected through at least three connecting rods 32. It will be appreciated that the width between the two arcuate jaw pieces 31 can be adjusted by varying the length of the connecting rods 32, or the number of connecting rods 32 in series, to control the width of the jaw 3; in addition, the overall width of the clamping jaw 3 can also be changed by increasing the number of the arc-shaped claw pieces 31, and when the width of the clamping jaw 3 exceeds the clamping jaw support 4, two arc-shaped claw pieces 31 in the middle of the clamping jaw 3 are preferably rotatably connected with the clamping jaw support 4.

In order to achieve a stable grip on the object, in one embodiment, the inner side wall of the arc-shaped claw piece 31 is provided with a row of densely distributed teeth, and the tips of the teeth are rounded or chamfered to prevent scratching the object.

Before using, arm fixed mounting of this embodiment is in many rotor unmanned aerial vehicle's ventral position, through the cable with steering wheel 2, it is connected to many rotor unmanned aerial vehicle from the battery of taking to open the motor, and can use when many rotor unmanned aerial vehicle hover, in the use, at first steering wheel 2 work, adjust the angle of its bottom, make clamping jaw 3 orientation treat the object of centre gripping, control 5 work of clamping jaw drive arrangement again, thereby make two clamping jaws 3 keep away from each other and form and open the form, rethread control steering wheel 2's angle or control many rotor unmanned aerial vehicle, can make the object get into and be the centre gripping within range of opening two clamping jaws 3 of form, control 5 reverse actions of clamping jaw drive arrangement, can live the object centre gripping through two clamping jaws 3, thereby accomplish many rotor unmanned aerial vehicle's the operation of pressing from both sides the clamp of hovering and getting the object.

Example two

The difference from the first embodiment is that: in this embodiment, still include the detector 7 that is used for surveying the target, detector 7 fixed mounting is in the bottom surface one side of clamping jaw support 4, and on detector 7 passed through cable connection to many rotor unmanned aerial vehicle's battery and controller during the use, detector 7 is preferably ultrasonic detector, surveys and fixes a position the object through the ultrasonic wave during the use.

EXAMPLE III

The difference between the first embodiment and the second embodiment is that: in this embodiment, steering wheel 2 disposes at least two, and at least two steering wheel 2 connect gradually through steering wheel support 6, and the output shaft of whole steering wheel 2 is parallel to each other. This embodiment is illustrated with three steering engines 2.

It will be appreciated that one possible form of sequential connection of the three steering engines 2 is: from one side of the mounting plate 1, the steering engine supports 6, the steering engines 2, the steering engine supports 6 and the steering engines 2 are connected in sequence, and the clamping jaw support 4 is fixedly connected to the last steering engine 2, as shown in fig. 3; another possible form is: from one side of the mounting plate 1, the steering engine supports 6, the steering engines 2 and the steering engine supports 6 are connected in sequence, and the clamping jaw support 4 is fixedly connected to the last steering engine support 6, as shown in fig. 1. Namely, one steering engine 2 and one steering engine support 6 are taken as a group, and three groups are connected in sequence, but the steering engines 2 and the steering engine supports 6 in each group are not arranged in the front-back sequence.

Example four

A multi-rotor unmanned aerial vehicle comprises a body 10, foot rests 20, a horn 30 and a rotor assembly 40, wherein the mechanical arm for the multi-rotor unmanned aerial vehicle disclosed in any one of the embodiments is further mounted on the belly position of the body, a battery is mounted inside the body 10, the battery is connected with a steering engine 2, a clamping jaw driving device 5 and a detector 7 in the mechanical arm through a cable 50, and the detector 7 is further in communication connection with a controller inside the body 10 through a communication cable.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, and the scope of protection is still within the scope of the invention.