CN112847428A - Mechanical arm for flying robot and flying robot - Google Patents
Mechanical arm for flying robot and flying robot Download PDFInfo
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- CN112847428A CN112847428A CN202110443133.6A CN202110443133A CN112847428A CN 112847428 A CN112847428 A CN 112847428A CN 202110443133 A CN202110443133 A CN 202110443133A CN 112847428 A CN112847428 A CN 112847428A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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Abstract
The invention discloses a mechanical arm for a flying robot and the flying robot, wherein the mechanical arm comprises a connecting component; one end of the upper arm connecting rod is hinged with the connecting component; one end of the lower arm connecting rod is hinged with the other end of the upper arm connecting rod; the upper arm steering engine is used for driving the upper arm connecting rod to swing; the lower arm steering engine is used for driving the lower arm connecting rod to swing relative to the upper arm connecting rod; the clamping jaw assembly is arranged at the other end of the lower arm connecting rod and used for grabbing an object; the lower arm steering engine drives the lower arm connecting rod to move through the connecting rod assembly; the mechanical arm solves the problem that the clamping jaw assembly cannot effectively operate upwards due to the limited motion range of the conventional flying mechanical arm, has the characteristics of more flexible operation and wider operation range, and can effectively reduce the overall weight of the mechanical arm so as to reduce the overall load of the flying robot; the flying robot carrying the mechanical arm can realize 360-degree movement and flexible operation in a large space range, and solves the problem of heavy structure of the existing double-arm flying robot.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a mechanical arm for a flying robot and the flying robot.
Background
With the rapid development and the increasing maturity of flying robot technology, flying robots are widely applied in more and more fields. The operation type flying robot is a novel robot which combines a flying robot and an operation device (multi-degree-of-freedom mechanical arm) and has active operation capability in the air, and due to the characteristics of high flexibility, strong maneuverability, hovering capability and the like, the operation type flying robot can quickly reach a high-risk complex environment where workers and ground robots are difficult to enter to execute tasks such as information acquisition and operation.
Compared with the existing flying robot, the operation type flying robot with the multi-joint mechanical arm carried on the flying platform can obviously break through the limitation and deal with more operation scenes, such as dangerous goods transfer, high-altitude obstacle removal, human inaccessible area goods sampling and the like.
The existing operation type flying robot has low degree of freedom of the operation mechanical arm, limited range of motion and operation range of the mechanical arm, generally can only grab the target below or obliquely below the aircraft, and cannot flexibly carry out aerial operation on the target object and the environment.
Accordingly, the prior art is in need of improvement and development.
Disclosure of Invention
An object of the embodiment of the application is to provide a mechanical arm for a flying robot and the flying robot, which have a moving range and an operation range, can flexibly carry out aerial operation on a target object and an environment, and realize an upward grabbing function.
In a first aspect, an embodiment of the present application provides a robot arm for a flying robot, for aerial work of the flying robot, including:
the connecting assembly is used for connecting an aircraft of the flying robot;
one end of the upper arm connecting rod is hinged with the connecting component;
one end of the lower arm connecting rod is hinged with the other end of the upper arm connecting rod;
the upper arm steering engine is used for driving the upper arm connecting rod to swing;
the lower arm steering engine is used for driving the lower arm connecting rod to swing the upper arm connecting rod;
the clamping jaw assembly is arranged at the other end of the lower arm connecting rod and used for grabbing an object;
the lower arm steering engine drives the lower arm connecting rod to move through the connecting rod assembly.
The mechanical arm for the flying robot is characterized in that the upper arm steering engine and the lower arm steering engine are both mounted on the connecting assembly.
The mechanical arm for the flying robot in the embodiment of the application solves the problem that a clamping jaw assembly cannot effectively operate upwards due to the fact that the movement range of the mechanical arm is limited during operation of the existing flying mechanical arm, and has the advantages of being flexible in operation and wide in operation range; in addition, the upper arm connecting rod, the lower arm connecting rod and the connecting rod assembly are used as an integral connecting frame of the mechanical arm, so that the mechanical arm can be ensured to have enough length to complete aerial work, the integral weight of the mechanical arm is effectively reduced, and the integral load of the flying robot is further reduced.
The mechanical arm for the flying robot comprises a linkage assembly, wherein the clamping jaw assembly is hinged to a lower arm connecting rod, and the lower arm steering engine can control the clamping jaw assembly to swing relatively on the lower arm connecting rod through the linkage assembly.
The mechanical arm for flying robot, wherein, the linkage subassembly includes first interlock pole, second interlock pole and upper and lower arm connecting piece, upper and lower arm connecting piece has more than three axle head, its one axle head with upper arm connecting rod and/or underarm connecting rod rotate and connect, first interlock pole both ends respectively with coupling assembling upper and lower arm connecting piece are articulated, second interlock pole both ends respectively with upper and lower arm connecting piece the clamping jaw subassembly is articulated.
The mechanical arm for the flying robot is characterized in that the upper arm connecting piece, the lower arm connecting piece, the upper arm connecting rod and the lower arm connecting rod are coaxially connected.
The mechanical arm for the flying robot is characterized in that the connecting rod assembly comprises a first connecting rod and a second connecting rod, two ends of the second connecting rod are respectively hinged to one end of the first connecting rod and one end of the lower arm connecting rod, and the other end of the first connecting rod is driven by the lower arm steering engine to rotate.
The mechanical arm for the flying robot is characterized in that the upper arm connecting rod and the lower arm connecting rod are symmetrically arranged.
The mechanical arm for flying robot, wherein, the coupling assembling includes:
the connecting flange is used for connecting an aircraft of the flying robot;
the base is rotatably arranged on the connecting flange;
and the rotary steering engine is used for driving the base to rotate on the connecting flange.
The robot arm for a flying robot, wherein the jaw assembly comprises:
the clamping jaw connecting piece is hinged with the lower arm connecting rod;
the clamping jaw body is rotatably arranged on the clamping jaw connecting piece and can open and close the jaw end to grab or release a target;
and the rotary steering engine is used for driving the clamping jaw body to rotate on the clamping jaw connecting piece.
In a second aspect, an embodiment of the present application further provides a flying robot, including:
an aircraft for providing aerial flight power;
the mechanical arm is arranged on the aircraft;
and more than two mechanical arms are arranged on the aircraft.
The flying robot in the embodiment of the application solves the problems that the motion range of a mechanical arm is limited and a clamping jaw assembly cannot effectively upwards operate during mechanical arm operation in the existing flying robot, can realize the upward and downward flexible operation of the clamping jaw assembly on a large scale, namely reduces the complex flow of grabbing a target by adjusting the height of an aircraft in the grabbing process, and indirectly improves the aerial operation efficiency.
In summary, the embodiment of the application provides a mechanical arm for a flying robot and the flying robot, wherein the mechanical arm solves the problem that a clamping jaw assembly cannot effectively work upwards due to the fact that the mechanical arm has a limited movement range during the operation of the conventional flying mechanical arm, has the characteristics of more flexible operation and wider operation range, and can effectively reduce the overall weight of the mechanical arm by taking an upper arm connecting rod, a lower arm connecting rod and a connecting rod assembly as an integral connecting frame of the mechanical arm, so that the overall load of the flying robot is reduced; in addition, the flying robot carrying the mechanical arm can realize 360-degree movement and flexible operation in a large space range, the operation range of the clamping jaw assembly can cover the movement space at the upper end and the lower end of the flying robot, the problem of dead angles that the clamping jaws of the existing double-arm flying robot cannot move upwards for operation does not exist, the problem of heavy structure of the existing double-arm flying robot is solved, and the air operation time of the flying robot is prolonged.
Drawings
Fig. 1 is a schematic perspective view of a robot arm for a flying robot according to an embodiment of the present disclosure.
Fig. 2 is a schematic side view of a robot arm for a flying robot according to an embodiment of the present disclosure.
Fig. 3 is a schematic bottom view of a robot arm for a flying robot according to an embodiment of the present disclosure.
Fig. 4 is a schematic diagram illustrating a change of a robot arm gripping process for a flying robot according to an embodiment of the present application.
Fig. 5 is a schematic perspective structure diagram of a flying robot provided in an embodiment of the present application.
Description of reference numerals: 1. a connecting assembly; 2. an upper arm link; 3. a lower arm link; 4. an upper arm steering engine; 5. a lower arm steering engine; 6. a jaw assembly; 7. a connecting rod assembly; 8. a linkage assembly; 11. a connecting flange; 12. a base; 13. rotating the steering engine; 61. a jaw connector; 62. a jaw body; 63. rotating the steering engine; 71. a first link; 72. a second link; 81. a first linkage rod; 82. a second linkage rod; 83. an upper and lower arm connecting member; 100. an aircraft; 101. a landing gear assembly; 102. mounting a platform; 200. a robotic arm.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
As shown in fig. 1 to 4, in a first aspect, an embodiment of the present application provides a robot arm for a flying robot, for aerial work of the flying robot, including: the connecting assembly 1 is used for connecting an aircraft of a flying robot; one end of the upper arm connecting rod 2 is hinged with the connecting component 1; one end of the lower arm connecting rod 3 is hinged with the other end of the upper arm connecting rod 2; the upper arm steering gear 4 is used for driving the upper arm connecting rod 2 to swing; the lower arm steering engine 5 is used for driving the lower arm connecting rod 3 to swing relative to the upper arm connecting rod 2; a gripper assembly 6 mounted on the other end of the lower arm link 3 for gripping an object; the lower arm steering gear 5 drives the lower arm connecting rod 3 to move through a connecting rod assembly 7.
The mechanical arm for the flying robot provided by the embodiment of the application is installed on an aircraft of the flying robot through the connecting assembly 1 for use, is used for aerial operation, especially target grabbing/releasing, and can be applied to object transfer, material collection, obstacle clearing and the like.
When the mechanical arm provided by the embodiment of the application is used, a target can be clamped or released through the clamping jaw assembly 6, and the position of the clamping jaw assembly 6 can be adjusted to a specific position for target grabbing by utilizing the mutual matching among the upper arm connecting rod 2, the lower arm connecting rod 3, the upper arm steering engine 4 and the lower arm steering engine 5; the upper arm steering engine 4 drives the upper arm connecting rod 2 to swing relative to the connecting assembly 1, and the lower arm steering engine 5 drives the lower arm connecting rod 3 to swing relative to the upper arm connecting rod 2 through the connecting rod assembly 7, so that the mechanical arm in the embodiment of the application can complete height adjustment of the clamping jaw assembly 6 through the two swing rod bodies of the upper arm connecting rod 2 and the lower arm connecting rod 3; because underarm steering wheel 5 passes through link assembly 7 and is connected with underarm connecting rod 3, make underarm steering wheel 5 need not to set up on the articulated shaft between underarm connecting rod 3 and upper arm connecting rod 2, and then make underarm connecting rod 3 have bigger swing allowance on upper arm connecting rod 2, make underarm connecting rod 3 have bigger upper pendulum scope for upper arm connecting rod 2, combine upper arm connecting rod 2 can be for the design of coupling assembling 1 upper pendulum, make clamping jaw subassembly 6 mention up, make clamping jaw subassembly 6's operation scope can cover aircraft bottom to upper portion, mechanical clamping jaw's operation scope has greatly been widened.
Therefore, the mechanical arm provided by the embodiment of the application solves the problem that the clamping jaw assembly 6 cannot effectively and upwards operate due to the limited movement range of the mechanical arm in the operation of the conventional flying mechanical arm, and has the characteristics of more flexible operation and wider operation range.
In addition, the upper arm connecting rod 2, the lower arm connecting rod 3 and the connecting rod assembly 7 are used as an integral connecting frame of the mechanical arm, so that the mechanical arm can be ensured to have enough length to complete aerial operation, the integral weight of the mechanical arm is effectively reduced, and the integral load of the flying robot is further reduced.
In addition, in the link type mechanical arm for the robot in the prior art, a cylinder is generally directly adopted to drive a link to swing so as to limit the swing amplitude of the link, but the driving mode needs to be provided with heavy equipment such as a compressor, and if an electric push rod is adopted, components such as a speed reducer are also needed, so that the whole weight is greatly increased, and the link type mechanical arm cannot be directly applied to a flying robot; the arm of this application embodiment passes through underarm steering wheel 5 and link assembly 7 and realizes underarm connecting rod 3's drive, has reduced the counter weight of connecting rod formula arm, has simplified the structure to be applicable to flying robot and use.
In some preferred embodiments, the upper arm steering gear 4 and the lower arm steering gear 5 are both mounted on the connection assembly 1.
Specifically, the connecting assembly 1 is generally installed below the middle part of an aircraft of a flying robot, and the steering engine belongs to a main driving element of a mechanical arm, so that the mechanical arm occupies a large weight due to precision requirements, transmission component requirements and the like of the mechanical arm; in the multi-axis mechanical arm in the prior art, a plurality of connecting arms are generally adopted, and a steering engine is directly installed at a hinged end in each connecting arm to realize multi-degree-of-freedom control, so that the weight of the whole mechanical arm is intensively distributed on the hinged end, and when the mechanical arm is applied to a flying robot, the mass center position of the flying robot is seriously changed when the mechanical arm moves, and the flying stability of the flying robot is influenced; consequently, install upper arm steering wheel 4 and underarm steering wheel 5 and make two steering wheel weight concentrate on flying robot middle part on coupling assembling 1, can effectively balance aircraft weight distribution, improve flying robot overall stability, reduce the operation in-process because receive the heavy uneven aircraft local load that leads to flying robot too big.
This application embodiment adopts steering wheel cooperation link assembly 7 of installing on coupling assembling 1 to realize the drive control of upper arm connecting rod 2 and lower arm connecting rod 3 and make lower arm steering wheel 5 mountable on coupling assembling 1, and steering wheel itself possesses the drive characteristics of limited stroke to make the arm of this application embodiment have the characteristics that weight is concentrated, be applicable to flying robot and use.
In some preferred embodiments, 4 lower arm steering wheel 5 symmetries in upper arm steering wheel are located coupling assembling 1 both sides to can make 4 lower arm steering wheel 5 weight of upper arm steering wheel set up with arm central symmetry, further improve the stability of this application embodiment arm, accord with flying robot's user demand.
In some preferred embodiments, the robot further comprises a linkage assembly 8, the jaw assembly 6 is hinged to the lower arm connecting rod 3, and the lower arm steering engine 5 can control the jaw assembly 6 to swing relatively on the lower arm connecting rod 3 through the linkage assembly 8; wherein, under the linkage effect of lower arm steering wheel 5 operation and linkage assembly 8, the swing direction of lower arm connecting rod 3 is opposite with the swing direction of clamping jaw assembly 6, and the concrete expression is: when the lower arm steering engine 5 drives the lower arm connecting rod 3 to swing upwards relative to the upper arm connecting rod 2, the linkage assembly 8 enables the clamping jaw assembly 6 to swing downwards relative to the lower arm connecting rod 3, so that when the lower arm connecting rod 3 swings upwards, the grabbing end of the clamping jaw assembly 6 can keep inclining forwards; when this design makes clamping jaw assembly 6 be used for snatching the eminence target, can avoid clamping jaw assembly 6 mistake to bump flying robot's aircraft, when guaranteeing flying robot aerial operation, the aircraft space can be avoided to the displacement orbit of clamping jaw assembly 6 among the arm motion process.
Generally, when the industrial mechanical arm works, a lower grabbing mode is often adopted for grabbing and releasing a target, and when the industrial mechanical arm is directly applied to a flying robot, the target is influenced by front wind force and is easy to swing and even drop in the industrial mechanical arm in a long-distance windrow, the orientation of the clamping jaw assembly 6 is limited by the linkage assembly 8 arranged on the mechanical arm of the embodiment of the application, so that the clamping jaw assembly 6 can grab the target in advance, the front side of the target bears the wind force in the subsequent flying process, and the reverse acting force is exerted on the rear side of the target by the clamping jaw assembly 6, so that the target can be firmly grabbed and moved.
Specifically, as shown in fig. 4, when the lower arm link 3 swings to the highest position relative to the upper arm link 2, the clamping jaw assembly 6 can swing to the highest position and face outward relative to the lower arm link 3, which is beneficial for the clamping jaw assembly 6 to grip an object upward and outward, i.e., the gripping direction of the clamping jaw assembly 6 when the clamping jaw assembly 6 is displaced to a high position is defined under the condition that no additional driving element is needed, so that the clamping jaw assembly 6 is prevented from mistakenly colliding with an aircraft of the flying robot, and the mechanical arm of the embodiment of the present application has a wide application range, and meanwhile, the clamping jaw assembly 6 can be ensured to have a relatively stable gripping orientation, so that the clamping jaw assembly 6 can grip the; similarly, when the lower arm steering engine 5 drives the lower arm connecting rod 3 to swing downwards relative to the upper arm connecting rod 2, the clamping jaw assembly 6 is controlled to swing upwards relative to the lower arm connecting rod 3 through the linkage assembly 8, and the clamping jaw assembly 6 is facilitated to grab a front target.
In addition, owing to be provided with link assembly 7, can make the connection structure between underarm connecting rod 3 and the clamping jaw subassembly 6 more stable to improve the structural stability of the arm of this application embodiment.
In some preferred embodiments, the linkage assembly 8 includes a first linkage rod 81, a second linkage rod 82, and upper and lower arm connectors 83, the upper and lower arm connectors 83 have more than three shaft ends, one of the shaft ends is rotatably connected to the upper arm link 2 and/or the lower arm link 3, two ends of the first linkage rod 81 are respectively hinged to the connecting assembly 1, the upper and lower arm connectors 83, and two ends of the second linkage rod 82 are respectively hinged to the upper and lower arm connectors 83 and the clamping jaw assembly 6.
More specifically, as shown in fig. 4, when the lower arm steering engine 5 drives the lower arm link 3 to swing, the connection end between the upper and lower arm links 83 and the upper arm link 2 and/or the lower arm link 3 can be regarded as a relative fixed point, when the lower arm link 3 swings upward and the upper arm link 2 remains stationary, since the first link 81 is a rod body with a fixed length and is connected to the upper and lower arm links 83 and the gripper assembly 6, the upper and lower arm links 83 are relatively fixed in position, and the second link 82 swings upward, since the hinged ends of the upper arm link 2 and the lower arm link 3 and the hinged ends of the second link 82 and the upper and lower arm links 83 have a certain position difference, according to the quadrilateral characteristic structure, the gripper assembly 6 swings downward, so that the gripping end of the gripper assembly 6 is inclined toward the front, which is beneficial for the gripper assembly 6 to grip an object, thereby ensuring the aerial work of the flying robot, the displacement track of the clamping jaw assembly 6 in the motion process of the mechanical arm can avoid the space where the aircraft is located.
In some preferred embodiments, the upper and lower arm connecting members 83 have three shaft ends, which are triangular connecting members, one shaft end is connected to the upper arm link 2 and/or the lower arm link 3, respectively, and the other two shaft ends are connected to the first linking rod 81 and the second linking rod 82, respectively; specifically, the triangular connecting piece structure has stability, so that the first linkage rod 81 and the second linkage rod 82 can be stably matched in action, meanwhile, the material quantity of the upper arm connecting piece 83 and the lower arm connecting piece 83 is effectively reduced, and the light-weight requirement of the flying robot is met.
Set up triangle-shaped's upper and lower arm connecting piece 83, can separate the mounted position of first trace 81 and second trace 82, in ordinary linkage structure, two traces generally adopt a shaft end to connect, if use this kind of structure in the arm of this application embodiment, at first can influence structural stability, the 6 swing range of clamping jaw subassembly that arouse when secondly can increase the swing of underarm connecting rod 3 increases, when the pendulum is gone up to underarm connecting rod 3 promptly, the bigger angle of clamping jaw subassembly 6 lower pendulum, can reduce the stability in the 6 accommodation process of clamping jaw subassembly, still can lead to clamping jaw subassembly 6 can't snatch the target forward under the specific angle.
In some preferred embodiments, the upper and lower arm connecting members 83, the upper arm connecting rods 2 and the lower arm connecting rods 3 are coaxially connected, that is, the connecting rotating shaft between the upper and lower arm connecting members 83 and the lower arm connecting rods 3 and the connecting rotating shaft between the lower arm connecting rods 3 and the upper arm connecting rods 2 are the same shaft body; by adopting the structure, when the upper arm connecting piece 83 and the lower arm connecting piece swing, the rotating shaft ends of the upper arm connecting piece and the lower arm connecting piece are fixed positions relative to the upper arm connecting rod 2 or the lower arm connecting rod 3, so that the integral structural stability of the mechanical arm is improved; secondly, the upper arm connecting piece 83, the lower arm connecting rod 2 and the lower arm connecting rod 3 are connected by adopting the same shaft body, and the whole weight of the mechanical arm can be reduced, so that the weight requirement of the flying robot is met.
The structure also enables the upper arm connecting rod 2 and the lower arm connecting rod 3 to have motion relevance, so that the overall connecting structure of the mechanical arm is more stable, and the structural stability of the mechanical arm in the embodiment of the application is improved; specifically, as shown in fig. 4, when the upper arm connecting rod 2 is driven by the upper arm steering engine 4 to swing counterclockwise, the first connecting rod 81 is a fixed-length rod body, and the upper and lower arm connecting pieces 83 can swing clockwise according to the quadrilateral structural characteristic that the side length is a fixed value, so as to drive the clamping jaw assembly 6 to swing clockwise relative to the lower arm connecting rod 3, so that when the upper arm connecting rod 2 is lifted, the grabbing end of the clamping jaw assembly 6 is arranged forward, and the target grabbing is facilitated.
In some preferred embodiments, the link assembly 7 includes a first link 71 and a second link 72, two ends of the second link 72 are respectively hinged to one end of the first link 71 and one end of the lower arm link 3, and the other end of the first link 71 is driven to rotate by the lower arm steering gear 5.
Specifically, as shown in fig. 4, the lower arm steering gear 5 drives the first link 71 to swing counterclockwise, so that the height of the second link 72 is lowered, and the second link 72 drives the lower arm link 3 to swing counterclockwise around a hinge shaft between the lower arm link 3 and the upper arm link 2, thereby completing the mechanical arm lifting process; on the contrary, the lower arm steering engine 5 drives the first connecting rod 71 to swing clockwise, so that the swinging process of the mechanical arm can be completed; this structural design makes first steering wheel can keep away from the handing-over axle position between lower arm connecting rod 3 and the upper arm connecting rod 2 for lower arm connecting rod 3 has bigger swing range, and makes in the mountable coupling assembling 1 of lower arm steering wheel 5, makes arm weight more concentrated, reduces the local flight load of aircraft.
In some preferred embodiments, the length of the second link 72 is greater than that of the first link 71, so that the lower arm steering gear 5 can drive the lower arm link 3 to swing in a large range under a small rotation amount; in addition, in the operation process, the upper arm connecting rod 71 swings along the output shaft of the lower arm steering engine 5, the second connecting rod 72 pushes the lower arm connecting rod 3 to swing under the pushing action of the first connecting rod 71, the second connecting rod 72 and the lower arm connecting rod 3 can be approximately seen as a double-rocker structure, and if the center of mass change of the first connecting rod 71 in the motion process is larger than that of the second connecting rod 72 under the same length; correspondingly, the length of the second connecting rod 72 is designed to be larger than that of the first connecting rod 71, in the driving process of the lower arm steering engine 5, the mass center change range of the first connecting rod 71 is smaller, the second connecting rod 72 is in an approximately vertical state, the mass center change has small influence on the change of the whole mass center of the mechanical arm in the horizontal direction, the mechanical arm can swing stably, and the flying robot carrying the mechanical arm can keep balance when the state of the mechanical arm is adjusted.
In some preferred embodiments, the upper arm link 2 and the lower arm link 3 are both two and are symmetrically arranged; the symmetrical structure can ensure that the whole mechanical arm structure has symmetry, thereby improving the structural strength of the whole structure, balancing the load of the mechanical arm on the flying robot and improving the stability during aerial operation; when the flying robot carries the mechanical arm to fly, the mechanical arm is generally adjusted to face the target direction and then flies towards the target direction, the upper arm connecting rod 2 and the lower arm connecting rod 3 which are symmetrically structured can enable the two sides of the mechanical arm to be balanced by the oncoming wind, and the flying robot is prevented from deviating from the preset flying track due to the fact that the mechanical arm deflects to guide the positive wind.
More specifically, two underarm connecting rods 3 pass through connecting rod fixed connection, and two upper arm connecting rods 2 are located the outside of two underarm connecting rods 3 bottoms respectively and are articulated with two underarm connecting rods 3 respectively, and two 2 tops of upper arm connecting rods all articulate with coupling assembling 1, and upper arm steering wheel 4 drives the swing of an upper arm connecting rod 2.
More specifically, the upper and lower arm connecting pieces 83 are two and symmetrically disposed at the outer sides of the two upper arm connecting rods 2, and correspondingly, the first linkage rods 81 and the second linkage rods 82 are also two and symmetrically disposed; adopt two linkage assembly 8 to connect clamping jaw assembly 6 and two underarm connecting rods 3 promptly for the 6 motion of clamping jaw assembly has the symmetry, makes clamping jaw assembly 6 accommodation process more steady, also can balance the positive wind-force that the arm both sides received and balance arm self barycenter position.
In some preferred embodiments, the connection assembly 1 comprises:
a connecting flange 11 for connecting an aircraft of a flying robot;
a base 12 rotatably mounted on the connecting flange 11;
and the rotary steering gear 13 is used for driving the base 12 to rotate on the connecting flange 11.
Specifically, the upper arm steering wheel 4, the lower arm steering wheel 5, the upper arm railing, first connecting rod 81, first connecting rod 71 of this application embodiment arm are all installed on base 12.
The mechanical arm is connected with an aircraft of a flying robot through the connecting flange 11, the rotary steering engine 13 can drive the base 12 to rotate around the axial lead of the connecting flange 11, so that a component arranged on the base 12 rotates along with the base, the orientation of the clamping jaw assembly 6 can be changed, the clamping jaw assembly can rotate for 360 degrees to adjust the grabbing direction, and the mechanical arm can be suitable for different aerial operation occasions; specifically, when the connecting flange 11 is installed on an aircraft of a flying robot, the axis line is arranged vertically or obliquely, and when the connecting flange is arranged obliquely, the included angle between the axis line and the vertical line is 5-15 degrees, preferably 10 degrees in the embodiment; because the arm is installed on flying robot, need pay close attention to the influence of self to flying robot's barycenter position, flange 11 that the slope set up is as making base 12 for keeping away from clamping jaw assembly 6 one side slope, owing to make the base 12 of installing upper arm steering wheel 4, underarm steering wheel 5 can balance clamping jaw assembly 6's gravity for the arm barycenter is more close under the aircraft, accords with the load requirement of aircraft.
In some preferred embodiments, the base 12 is U-shaped, and the rotation steering gear 13 is installed at the U-shaped inslot side of base 12, and the rotation steering gear 13 of general arm can be installed in the outside of base 12 or the side realizes rotating the regulation through the driving medium, but is not suitable for flying robot, and the rotation steering gear 13 of this application embodiment is installed at the U-shaped inslot side of base 12, can make rotation steering gear 13 barycenter be close to the arm middle part and balanced arm barycenter position, does benefit to flying robot flight operation.
In some preferred embodiments, the jaw assembly 6 comprises:
the clamping jaw connecting piece 61 is hinged with the lower arm connecting rod 3;
the clamping jaw body 62 is rotatably arranged on the clamping jaw connecting piece 61 and can open and close the clamping jaw end to grab or release a target;
and the rotary steering gear 63 is used for driving the clamping jaw body 62 to rotate on the clamping jaw connecting piece 61.
Specifically, rotatory steering wheel 63 can drive clamping jaw body 62 and rotate on clamping jaw connecting piece 61 to adjustment clamping jaw body 62 snatchs the angle, two claw ends that make clamping jaw body 62 can follow the left and right sides of object, go up both sides, even left upper and right lower both sides etc. direction snatchs, make clamping jaw body 62 can adjust according to target appearance structure characteristics and snatch the angle, make the arm of this application embodiment can be applicable to the target of different appearances and snatch, have the suitability wide range, snatch firm characteristics.
Specifically, the lower arm link 3 and the second linkage 82 are both hinged to the jaw connector 61 at positions that are not coaxial, so that the orientation of the jaw connector 61 can be adjusted by the second linkage 82.
In some preferred embodiments, the jaw body 62 includes two symmetrically arranged mechanical jaws and a jaw steering engine for driving the two mechanical jaws to approach or move away from each other to achieve a gripping or releasing target; the clamping jaw steering engine drives the two mechanical clamping jaws to move, so that the target can be grabbed and released, and the grabbing process is simple and stable.
In some preferred embodiments, the claw end of the mechanical clamping jaw is provided with an anti-slip line, so that the target grabbing firmness can be further improved.
In a second aspect, as shown in fig. 5, an embodiment of the present application further provides a flying robot, including:
an aircraft 100 for providing aerial flight power;
the robot arm 200 is mounted on the aircraft 100;
more than two robotic arms 200 are mounted on the aircraft 100.
According to the flying robot provided by the embodiment of the application, a plurality of mechanical arms 200 are arranged, so that large-range flexible movement and aerial operation can be completed.
In the present embodiment, the aircraft 100 preferably carries two robot arms 200; the double mechanical arms can realize 360-degree movement and flexible operation in a large space range, the movement space of the double mechanical arms is designed according to the movement of the bird leg structure, and the double mechanical arms have the characteristic of flexible movement of the upper arm connecting rod 2 and the lower arm connecting rod 3, so that the movement space of the upper end and the lower end of the flying robot can be covered by the operation range of the clamping jaw assembly 6, the problem of dead angles that the clamping jaws of the existing double-arm flying robot cannot move upwards for operation is solved, and the operation range is greatly widened.
The flying robot provided by the embodiment of the application can solve the problems that the motion range of the mechanical arm 200 is limited and the clamping jaw assembly 6 cannot effectively work upwards during the operation of the two mechanical arms in the existing double-arm flying robot, can realize the flexible operation of the clamping jaw assembly 6 upwards and downwards in a large range, namely reduces the complex flow of the height adjustment of the aircraft 100 in the grabbing process to grab a target, and indirectly improves the aerial operation efficiency.
Secondly, the mechanical arm 200 of the flying robot provided by the embodiment of the application adopts the bionic principle of bird leg type structures, a novel multi-freedom bird-like leg type mechanical arm structure is designed by adopting a light connecting rod, and the double mechanical arm structure is light and handy; meanwhile, due to the structure of the double mechanical arms, the flying robot has the advantages of more stable grabbing, more flexible operation and wider operation range compared with a single-arm structure when grabbing the target object. The flying robot provided by the embodiment of the application solves the problem of heavy structure of the existing double-arm flying robot, improves the aerial operation time of the flying robot, and realizes the application superiority of the bionic structure in the field of flying robots.
In addition, the flying robot that this application embodiment provided, preferably all install rotatory steering wheel 63, lower arm steering wheel 5 and upper arm steering wheel 4 on coupling assembling 1, with main three joint steering wheel parts in the arm 200 structure near flying platform barycenter position and arrange, because the steering wheel quality is far greater than arm 200 quality, consequently makes whole arm 200 barycenter position be closer to flying robot's barycenter position. The structure is more beneficial to reducing the change of the center of mass of the flying platform caused by the change of the position state of the mechanical arm 200 when the mechanical arm 200 operates and moves, can greatly reduce the disturbance of the external moment disturbance brought to the flying platform caused by the change of the position of the center of mass of the mechanical arm 200, and is more beneficial to the stability of the flying robot during the flying operation in the air. The flying robot provided by the embodiment of the application can solve the problem that the mass center of a flying platform is seriously changed when the mechanical arm 200 of the existing double-arm flying robot moves, and further the stability of the flying robot during flying operation is seriously influenced.
In some preferred embodiments, the mechanical arm 200 is installed on the aircraft 100 through the connecting flange 11 of the connecting assembly 1, and the connecting flange 11 adopts an inclined installation design, so that when the clamping jaw assembly 6 operates forwards, the connecting assembly 1 combines the mass centers of the three steering engines and the clamping jaw assembly 6 to be respectively located on two sides of the mass center position of the flying robot, and then the overall stress of the flying robot can be further balanced, and the stability of the flying robot during air flying operation is improved.
In some preferred embodiments, the aircraft 100 is a rotorcraft with more than four wings, and the reserved positions between the rotors of the rotorcraft are beneficial for the mechanical arm 200 to pass through a grabbing target upwards, so that the flying robot is prevented from falling off due to the fact that the mechanical arm 200 touches the aircraft 100; in this embodiment, a six-rotor aircraft is preferable, which ensures that the flying robot has sufficient flying power and keeps balance after the mechanical arm 200 grabs the target.
In some preferred embodiments, the aircraft 100 is provided with a landing gear assembly 101, a mounting platform 102 to which the connection assembly 1 is mounted.
To sum up, the embodiment of the present application provides a mechanical arm 200 for a flying robot and a flying robot, wherein the mechanical arm 200 solves the problem that the gripper assembly 6 cannot effectively operate upwards due to the limited range of motion of the mechanical arm 200 when the existing aircraft 100 mechanical arm operates, and has the characteristics of more flexible operation and wider operation range, and the upper arm connecting rod 2, the lower arm connecting rod 3 and the connecting rod assembly 7 are used as an integral connecting frame of the mechanical arm, so that the overall weight of the mechanical arm 200 can be effectively reduced, and the overall load of the flying robot is further reduced; in addition, the flying robot carrying the mechanical arm 200 can realize 360-degree movement and flexible operation in a large space range, the operation range of the clamping jaw assembly 6 can cover the movement space at the upper end and the lower end of the flying robot, the problem of dead angles that the clamping jaws of the existing double-arm flying robot cannot move upwards for operation does not exist, the problem of heavy structure of the existing double-arm flying robot is solved, and the air operation time of the flying robot is prolonged.
In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A robotic arm for a flying robot for aerial work on the flying robot, comprising:
a connection assembly (1) for connecting an aircraft of a flying robot;
one end of the upper arm connecting rod (2) is hinged with the connecting component (1);
one end of the lower arm connecting rod (3) is hinged with the other end of the upper arm connecting rod (2);
the upper arm steering engine (4) is used for driving the upper arm connecting rod (2) to swing;
the lower arm steering engine (5) is used for driving the lower arm connecting rod (3) to swing relative to the upper arm connecting rod (2);
a gripper assembly (6) mounted on the other end of the lower arm link (3) for gripping an object;
and the lower arm steering engine (5) drives the lower arm connecting rod (3) to move through the connecting rod assembly (7).
2. The mechanical arm for the flying robot as claimed in claim 1, wherein the upper arm steering engine (4) and the lower arm steering engine (5) are both mounted on the connecting assembly (1).
3. The mechanical arm for the flying robot as claimed in claim 1, further comprising a linkage assembly (8), wherein the clamping jaw assembly (6) is hinged with the lower arm connecting rod (3), and the lower arm steering gear (5) can control the clamping jaw assembly (6) to swing relatively on the lower arm connecting rod (3) through the linkage assembly (8).
4. The mechanical arm for the flying robot as claimed in claim 3, wherein the linkage assembly (8) comprises a first linkage rod (81), a second linkage rod (82) and an upper and lower arm connecting piece (83), the upper and lower arm connecting piece (83) has more than three shaft ends, one shaft end of the upper and lower arm connecting piece is rotatably connected with the upper arm connecting rod (2) and/or the lower arm connecting rod (3), two ends of the first linkage rod (81) are respectively hinged with the connecting assembly (1) and the upper and lower arm connecting piece (83), and two ends of the second linkage rod (82) are respectively hinged with the upper and lower arm connecting piece (83) and the clamping jaw assembly (6).
5. A robot arm for flying robots according to claim 4, characterized by a coaxial connection between the upper and lower arm links (83), the upper arm link (2) and the lower arm link (3).
6. The mechanical arm for the flying robot as claimed in claim 1, wherein the connecting rod assembly (7) comprises a first connecting rod (71) and a second connecting rod (72), two ends of the second connecting rod (72) are respectively hinged with one end of the first connecting rod (71) and one end of the lower arm connecting rod (3), and the other end of the first connecting rod (71) is driven to rotate by the lower arm steering engine (5).
7. A robot arm for flying robots, according to claim 1, characterized in that said upper arm link (2) and lower arm link (3) are both two and are symmetrically arranged.
8. The arm of claim 1, characterized in that said connecting assembly (1) comprises:
a connection flange (11) for connecting an aircraft of a flying robot;
a base (12) rotatably mounted on the connecting flange (11);
and the rotary steering engine (13) is used for driving the base (12) to rotate on the connecting flange (11).
9. A robot arm for flying robots, according to claim 1, characterized in that said jaw assembly (6) comprises:
a jaw connection (61) hinged to the lower arm link (3);
the clamping jaw body (62) is rotatably arranged on the clamping jaw connecting piece (61) and can open and close the jaw end to grab or release a target;
and the rotary steering engine (63) is used for driving the clamping jaw body (62) to rotate on the clamping jaw connecting piece (61).
10. A flying robot, comprising:
an aircraft (100) for providing aerial flight power;
the robotic arm (200) of any one of claims 1-9, mounted on the aerial vehicle (100);
the aircraft (100) is provided with more than two mechanical arms (200).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110443133.6A CN112847428A (en) | 2021-04-23 | 2021-04-23 | Mechanical arm for flying robot and flying robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110443133.6A CN112847428A (en) | 2021-04-23 | 2021-04-23 | Mechanical arm for flying robot and flying robot |
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| CN112847428A true CN112847428A (en) | 2021-05-28 |
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Application publication date: 20210528 |