CN111645081A - Lightweight mechanical arm system loaded on unmanned aerial vehicle and control method thereof - Google Patents
Lightweight mechanical arm system loaded on unmanned aerial vehicle and control method thereof Download PDFInfo
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- CN111645081A CN111645081A CN202010413648.7A CN202010413648A CN111645081A CN 111645081 A CN111645081 A CN 111645081A CN 202010413648 A CN202010413648 A CN 202010413648A CN 111645081 A CN111645081 A CN 111645081A
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Classifications
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- 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
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- 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
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a light-weight mechanical arm system loaded on an unmanned aerial vehicle and a control method thereof, and the system comprises an unmanned aerial vehicle body, a mechanical arm, a mechanical claw and a control method, wherein the mechanical arm realizes light weight from the aspects of structure and material, the load of an operation type flying robot is effectively reduced, the mechanical claw adopts coaxial drive, can automatically adapt to and attach to a clamped object, adopts a modular design, is convenient to replace mechanical claws of different types, and realizes two operation control methods of a manual mode and an automatic mode.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a light-weight mechanical arm system loaded on an unmanned aerial vehicle and a control method thereof.
Background
In recent years, research and application in the field of unmanned aerial vehicles are very popular, and the application of unmanned aerial vehicles to various tasks such as search and rescue, detection, monitoring, cooperative tasks or transportation is increasing. Rotor unmanned aerial vehicle compares in fixed wing unmanned aerial vehicle small, and the noise is little, simple structure, and easy to maintain controls. Install actuating mechanism such as arm additional under rotor unmanned aerial vehicle, make it can carry out physical interaction with the surrounding environment, will further expand rotor unmanned aerial vehicle's range of application, be called operation type flying robot.
As a new hotspot in the research field of unmanned aerial vehicles, the operation type flying robot has many advantages compared with the conventional flying robot, and is widely applied to occasions such as air transportation, high-altitude construction and the like, but the limited load of the flying robot is a problem to be solved urgently. At present, most of aerial mechanical arms used for loading unmanned aerial vehicles adopt steering engine-driven serial mechanical arms, and the steering engines generally used for the type of mechanical arms are heavy in weight, so that the load of the rotor wing unmanned aerial vehicle is increased; furthermore, the control is not flexible enough, and the flexibility of the robot arm is usually increased by adding a degree of freedom, which increases the cost and the quality. The operation type flying robot cannot bear the weight of an overlarge mechanical arm, and the operation efficiency of the aircraft is greatly reduced due to the overlarge mechanical arm. The conventional mechanical claw carried at the tail end of a mechanical arm used for grabbing tasks in the air is provided with a rigid mechanical claw in multiple choices, so that grabbed objects are limited in shape and size, different types of mechanical claws must be replaced aiming at objects with different shapes, such as spheres, cubes, irregular bodies and the like, and the mechanical claw has no self-adaptability. The image acquisition device that the aerial arm snatchs the task at present and chooses for use is fixed mounting on unmanned aerial vehicle casing usually, and the image scope of gathering is limited, can't observe the environmental aspect around the gripper. The existing mechanical claw is too complex in design, the design complexity and the manufacturing cost are improved, meanwhile, the mechanical claw is inconvenient to operate, the weight is correspondingly increased, and the operation efficiency of an aircraft is affected.
Therefore, a new solution is now needed.
Disclosure of Invention
In order to solve the problems, the invention discloses a light-weight mechanical arm system loaded on an unmanned aerial vehicle and a control method thereof, the weight of the system is lighter than that of other types of mechanical arms under the same load capacity, the problem of limited load of the aircraft is solved, meanwhile, the stability of the grabbing task of the operation type unmanned aerial vehicle is effectively improved, the mechanical arms and mechanical claws are simple in design and simple and convenient to operate, the overall weight of the aircraft is greatly reduced while the design complexity and the manufacturing cost are reduced, and meanwhile, the adopted control method also greatly improves the grabbing operation efficiency.
In order to achieve the above purpose, the invention provides the following technical scheme: the utility model provides a load lightweight arm system on unmanned aerial vehicle, includes unmanned aerial vehicle body, arm and gripper, the arm install in unmanned aerial vehicle body below, the arm is terminal to be installed the gripper. Unmanned aerial vehicle body generally chooses for use many rotor crafts, can be four rotors, six rotors or eight rotor unmanned aerial vehicle, has VTOL and hover the function, all installs the high accuracy potentiometre on every joint of arm, reads the angle value of joint and as feedback signal, realizes the closed-loop control of arm.
As an improvement of the invention, the mechanical arm comprises a rotary table, an arm body and an electric push rod, and the mechanical claw comprises a motor plate, a motor, a gear, a gripper plate, a connecting rod, a screw rod, a gripper fixing frame and a gripper. The rotary table can drive the whole mechanical arm to rotate along the axial direction of the rotary table, and the rotary table is driven by the light speed reducing motor to generate the rotary degree of freedom of the mechanical arm.
As an improvement of the invention, the revolving platform is fixedly arranged below the unmanned aerial vehicle body, the arm body comprises a first arm body, a second arm body and a third arm body, one end of the first arm body is hinged with the lower end of the revolving platform, the other end of the first arm body is hinged with one end of the second arm body, the other end of the second arm body is hinged with one end of the third arm body, and the other end of the third arm body is fixedly provided with the mechanical claw. The first arm body, the second arm body and the third arm body all adopt hollow out construction and sandwich design, and carbon fiber board is used in the outside, and latticed high strength resin is inlayed to inside to guarantee intensity and lightweight, realize the lightweight requirement of arm design.
As an improvement of the invention, the electric push rod comprises a first electric push rod, a second electric push rod, a third electric push rod and a fourth electric push rod, one end of each of the first electric push rod and the second electric push rod is hinged with the lower end of the rotary table, the other end of each of the first electric push rod and the second electric push rod is hinged with the outer end wall of the first arm body, the three end of each of the third electric push rod is hinged with the outer end wall of the first arm body, the other end of each of the third electric push rod and the fourth electric push rod is hinged with the outer end wall of the second arm body, and the other end of. The rotary table is hinged with the first arm body, and the mechanical arm joint is driven to rotate through the movement of the electric push rod to generate a first pitching degree of freedom of the mechanical arm; the first arm body is hinged with the second arm body, and a second pitching degree of freedom of the mechanical arm can be generated through the motion of the electric push rod; the second arm body is hinged with the third arm body, and the third pitching degree of freedom of the mechanical arm can be generated through the motion of the electric push rod.
As an improvement of the invention, the three outer parts of the arm body are fixedly connected with a camera support, and the end part of the non-connecting end of the camera support is hinged with a camera. The camera is hinged, and the angle of the camera can be adjusted to obtain the best visual effect.
As an improvement of the present invention, the motor plate is fixedly connected to the arm body three, the number of the motors is two, the motors are all arranged at the upper end of the motor plate, the gear comprises a driving boss gear i, a driving boss gear ii, a driven plane gear i and a driven plane gear ii, the gripper plate comprises a gripper upper plate and a gripper lower plate, and the connecting rod comprises a connecting rod i and a connecting rod ii. The mechanical claw has two degrees of freedom, namely a rotary degree of freedom and a grabbing degree of freedom, and the whole mechanical claw is axially rotated by means of the rotary motion of the rotary table; the mechanical claw is provided with three fingers and can be pushed to open or close through a connecting rod, and the motor is a speed reduction motor.
As an improvement of the invention, a driven plane gear II is arranged on the middle side below the position of the motor plate, a first driven plane gear is arranged right below the second driven plane gear, the output shafts of the motors respectively movably penetrate through the motor plate and extend downwards, a first driving lug boss gear is sleeved outside the output shaft of the motor at one side and at a position corresponding to the second driven plane gear, a second driving lug boss gear is sleeved outside the output shaft of the motor at the other side and at a position corresponding to the first driven plane gear, the inner end of the driven plane gear II is provided with a screw rod nut, one end of the screw rod nut is connected with the motor plate, the other end of the screw rod nut is connected with the driven plane gear I through a bearing, the gripper upper plate is located below the position of the driven plane gear, a rotating shaft is arranged at one inner end of the driven plane gear, and the end part of the lower end of the rotating shaft is connected with the gripper upper plate. The driving boss gear and the driven plane gear are in meshing transmission, and the bearing is a thrust ball bearing.
The middle side of the position right below the gripper upper plate is provided with a gripper lower plate, the positions below the gripper upper plate and beside the gripper lower plate are uniformly provided with clamping jaw fixing frames at equal radian, the lower ends of the clamping jaw fixing frames are provided with clamping jaws, the upper end walls of the clamping jaw fixing frames are hinged with the side end walls of the gripper upper plate through a first connecting rod and a second connecting rod, the upper end walls of the clamping jaw fixing frames are hinged with the side end walls of the gripper lower plate, the rotating shaft is arranged in a hollow mode, a screw rod penetrates through the rotating shaft, one end portion of the screw rod is connected with the upper end wall of the gripper lower plate through a flange coupling, and the other end portion of the screw rod extends into the screw rod nut. The lead screw nut and the lead screw are designed by adopting the existing lead screw transmission principle technology. The clamping jaw adopts silica gel compound membrane technology, adopts hollow out construction, is printed by elastic plastic 3D and forms, to the object of different shapes, for example spheroid, square, irregular body etc. can self-adaptation laminating by the centre gripping object, loosens the back and resumes original shape fast, improves the fastness and the compliance that the gripper snatched. In order to adapt to grabbing of objects with various shapes, the mechanical claw adopts a modular design, and the corresponding mechanical claw is convenient to replace according to different operation objects.
As an improvement of the present invention, a control method for a lightweight arm system mounted on an unmanned aerial vehicle, the control method comprising the steps of:
the method comprises the following steps: the method comprises the steps that a camera is installed to serve as an image acquisition device, images of an external environment are acquired, and the acquired images are remotely transmitted to a main-end human-computer interaction device;
step two: the main end human-computer interaction equipment displays images and analyzes and judges the image quality;
step three: the brain processes the received visual information according to the image display of the main-end human-computer interaction equipment by an operator, and remotely controls the mechanical arm to find an object to be grabbed by combining the intention of the operator;
step four: after the position of the object to be grabbed is determined, the motion tail end pose of the mechanical arm is determined, and the grabbing operation can be carried out by freely selecting an operation mode.
As an improvement of the present invention, the operation modes include a manual operation mode and an automatic operation mode, the manual operation mode is a manual remote control grabbing operation, and the automatic operation mode is a mechanical and automatic grabbing operation. And the main end man-machine interaction equipment displays images, analyzes and judges whether the image quality meets requirements, adjusts the angle of the camera if the image quality does not meet the requirements, and collects the images again to transmit back and display until the acquired image quality meets the requirements. The manual operation mode refers to that an operator remotely carries out remote control grabbing according to the fed-back visual information and by combining human perception; the automatic operation mode refers to that the angle of each joint which needs to rotate is calculated by utilizing an inverse kinematics model of the mechanical arm according to the expected end pose of the mechanical arm, and then a mechanical arm control algorithm can automatically control the mechanical arm and the mechanical claw to move to the position of an object to be grabbed, so that automatic grabbing operation is realized. In order to obtain a high-quality returned image, digital image transmission is selected, and the image is transmitted through a digital signal, so that the reliability is high, and the image definition is high.
Compared with the prior art, the invention has the following advantages:
1. the mechanical arm is light in weight from the aspects of structure and material, the electric push rod with light weight is selected for driving, the mechanical arm is designed in a hollow structure and an interlayer, carbon fiber plates are used on the outer side, and latticed high-strength resin is embedded in the mechanical arm to ensure strength and light weight;
2. the gripper is coaxially driven, the lead screw for driving the gripping movement is coaxially arranged in the gripper, the size is effectively reduced, the weight of the gripper is effectively reduced by the design, the gripper adopts a silica gel film coating process, a hollow structure is adopted, the gripper is formed by 3D printing of elastic plastic, the gripper can be self-adaptively attached to objects with different shapes, such as spheres, cubes, irregular bodies and the like, and the original shape can be quickly recovered after the gripper is loosened;
3. the control method facing the grabbing operation can continuously adjust the orientation of the camera carried on the mechanical claw to obtain the optimal visual angle, and can obtain high-quality image feedback at the main end and provide better visual effect for an operator; and can freely select manual mode or automatic mode according to concrete operation environment, improved the efficiency that the arm snatched the operation.
Drawings
Fig. 1 is a schematic view of the overall structure of a lightweight mechanical arm system loaded on an unmanned aerial vehicle according to the present invention;
FIG. 2 is a schematic view of the robot arm;
FIG. 3 is a schematic structural view of the gripper;
FIG. 4 is a schematic view of the structure of the lower ends of the arms;
fig. 5 is a flowchart illustrating a method for controlling a lightweight arm system mounted on an unmanned aerial vehicle according to the present invention;
list of reference numerals: 1. an unmanned body; 2. a mechanical arm; 3. a gripper; 2-1, a camera; 2-2, arm body one; 2-3, an electric push rod III; 2-4, arm body III; 2-5, a camera bracket; 2-6, a rotary table; 2-7, electrically pushing the first rod; 2-8, an electric push rod II; 2-9 and a second arm body; 2-10 parts of electric push rod IV; 3-1, a motor; 3-2, driving a boss gear I; 3-3, a driven face gear I; 3-4, grabbing the upper plate; 3-5, connecting rod one; 3-6, connecting rod two; 3-7, a gripper lower plate; 3-8, a clamping jaw fixing frame; 3-9, a motor plate; 3-10 parts of a driven plane gear II; 3-11, screw rod nut; 3-12, bearings; 3-13, driving boss gear II; 3-14, a screw rod; 3-15, flange coupling; 3-16, clamping jaw.
Detailed Description
Example 1: referring to fig. 1, 2, 3 and 4, a lightweight robot arm system mounted on an unmanned aerial vehicle according to the present invention is now described, including an unmanned aerial vehicle body 1, a robot arm 2 and a gripper 3, where the robot arm 2 is mounted below the unmanned aerial vehicle body 1, and the gripper 3 is mounted at the end of the robot arm 2.
Example 2: referring to fig. 1, 2, 3 and 4, the lightweight manipulator arm system loaded on the unmanned aerial vehicle provided by the invention is described, the manipulator arm 2 comprises a rotary table 2-6, an arm body and an electric push rod, and the gripper 3 comprises a motor plate 3-9, a motor 3-1, a gear, a gripper plate, a connecting rod, a screw rod 3-14, a gripper fixing frame 3-8 and a gripper 3-16.
Example 3: referring to fig. 1 and 2, a lightweight mechanical arm system loaded on an unmanned aerial vehicle provided by the invention is described, wherein a rotary table 2-6 is fixedly installed below the unmanned aerial vehicle body 1, the arm body comprises a first arm body 2-2, a second arm body 2-9 and a third arm body 2-4, one end of the first arm body 2-2 is hinged with the lower end of the rotary table 2-6, the other end of the first arm body is hinged with one end of the second arm body 2-9, the other end of the second arm body 2-9 is hinged with one end of the third arm body 2-4, and the other end of the third arm body 2-4 is fixedly provided with the mechanical claw 3.
Example 4: referring to fig. 1 and fig. 2, a lightweight robot arm system loaded on an unmanned aerial vehicle according to the present invention will now be described, the electric push rod comprises a first electric push rod 2-7, a second electric push rod 2-8, a third electric push rod 2-3 and a fourth electric push rod 2-10, one end of each of the electric push rod I2-7 and the electric push rod II 2-8 is hinged with the lower end of the rotary table 2-6, the other end is hinged with the outer end wall of the arm body I2-2, one end of the electric push rod III 2-3 is hinged with the outer end wall of the arm body I2-2, the other end is hinged with the arm body II 2-9, one end of the electric push rod IV 2-10 is hinged with the outer end wall of the arm II 2-9, and the other end is hinged with the arm III 2-4.
Example 5: referring to fig. 1, 2 and 4, a lightweight mechanical arm system loaded on an unmanned aerial vehicle provided by the invention is described, wherein a camera support 2-5 is fixedly connected to the outside of the arm body three 2-4, and a camera 2-1 is hinged to the end of the non-connecting end of the camera support 2-5.
Example 6: referring to fig. 3 and 4, a lightweight mechanical arm system loaded on an unmanned aerial vehicle provided by the invention is described, wherein the motor plates 3-9 are fixedly connected with the arm body three 2-4, the number of the motors 3-1 is two, the motors are all arranged at the upper ends of the motor plates 3-9, each gear comprises a driving boss gear I3-2, a driving boss gear II 3-13, a driven plane gear I3-3 and a driven plane gear II 3-10, the gripper plate comprises a gripper upper plate 3-4 and a gripper lower plate 3-7, and the connecting rod comprises a connecting rod I3-5 and a connecting rod II 3-6.
Example 7: referring to fig. 3 and 4, a description will now be made of a lightweight mechanical arm system loaded on an unmanned aerial vehicle, wherein a driven plane gear 3-10 is arranged on the middle side below a motor plate 3-9, a driven plane gear 3-3 is arranged right below the driven plane gear 3-10, output shafts of motors 3-1 movably penetrate through the motor plate 3-9 and extend downwards, a driving boss gear 3-2 is sleeved outside an output shaft of the motor 3-1 on one side and corresponding to the driven plane gear 3-10, a driving boss gear 3-13 is sleeved outside an output shaft of the motor 3-1 on the other side and corresponding to the driven plane gear 3-3, and screw nuts 3-11 are arranged at inner ends of the driven plane gear 3-10, one end of the screw nut 3-11 is connected with the motor plate 3-9, the other end of the screw nut is connected with the driven face gear I3-3 through a bearing 3-12, the upper gripper plate 3-4 is located below the driven face gear I3-3, a rotating shaft is arranged at the inner end of the driven face gear I3-3, and the end part of the lower end of the rotating shaft is connected with the upper gripper plate 3-4.
Example 8: referring to fig. 3 and 4, a light weight mechanical arm system loaded on an unmanned aerial vehicle provided by the invention is described, wherein a lower gripper plate 3-7 is arranged on the middle side right below the position of the upper gripper plate 3-4, a clamping jaw fixing frame 3-8 is uniformly arranged below the position of the upper gripper plate 3-4 and beside the position of the lower gripper plate 3-7 in an equal radian manner, clamping jaws 3-16 are arranged at the lower ends of the clamping jaw fixing frames 3-8, the upper end walls of the clamping jaw fixing frames 3-8 are hinged with the side end walls of the upper gripper plate 3-4 through a first connecting rod 3-5 and a second connecting rod 3-6, the upper end walls of the clamping jaw fixing frames 3-8 are hinged with the side end walls of the lower gripper plate 3-7, a rotating shaft is arranged in a hollow manner, and a screw rod 3-14 penetrates through the rotating shaft, one end part of the screw rod 3-14 is connected with the upper end wall of the lower gripper plate 3-7 through a flange coupler 3-15, and the other end part of the screw rod extends into the screw rod nut 3-11.
Example 9: referring to fig. 5, a control method of a lightweight arm system mounted on an unmanned aerial vehicle according to the present invention will now be described, the control method including the steps of:
the method comprises the following steps: the method comprises the steps that a camera is installed to serve as an image acquisition device, images of an external environment are acquired, and the acquired images are remotely transmitted to a main-end human-computer interaction device;
step two: the main end human-computer interaction equipment displays images and analyzes and judges the image quality;
step three: the brain processes the received visual information according to the image display of the main-end human-computer interaction equipment by an operator, and remotely controls the mechanical arm to find an object to be grabbed by combining the intention of the operator;
step four: after the position of the object to be grabbed is determined, the motion tail end pose of the mechanical arm is determined, and the grabbing operation can be carried out by freely selecting an operation mode.
Example 10: referring to fig. 5, a description will now be given of a control method of a lightweight arm system mounted on an unmanned aerial vehicle according to the present invention, where the operation modes include a manual operation mode and an automatic operation mode, the manual operation mode is a manual remote control grabbing operation, and the automatic operation mode is a mechanized and automated grabbing operation.
The invention can also combine at least one of the technical characteristics described in examples 2, 3, 4, 5, 6, 7, 8, 9 and 10 with example 1 to form a new implementation mode.
The working principle is as follows:
the unmanned aerial vehicle body is selected to be many rotor crafts, has VTOL and hover function, realizes the regulation and control of gripper position, and the gripper is used for snatching the object. The rotary table operates to drive the mechanical arm and the mechanical claw to axially rotate along the rotary table, so that the rotary freedom degree of the mechanical arm and the mechanical claw is generated. The first electric push rod and the second electric push rod operate to drive the first arm body to rotate, and a first pitching degree of freedom of the mechanical arm is generated; the electric push rod III operates to drive the arm body II to rotate, and a second pitching degree of freedom of the mechanical arm is generated; the electric push rod four operates to drive the arm body three to rotate, and a third pitching degree of freedom of the mechanical arm is generated. The change of arm three-position can drive camera support position change, and the camera is articulated design, and the regulation and control can be realized to the camera angle, is convenient for gain best visual effect. Each joint of the mechanical arm is provided with a high-precision potentiometer, and the angle value of the joint is read to serve as a feedback signal, so that closed-loop control of the mechanical arm is realized.
The motor operates to drive the first driving lug boss gear and the second driving lug boss gear to rotate. The driving boss gear I can drive the driven plane gear II to rotate, the driven plane gear II drives the screw rod nut to rotate, the screw rod nut and the screw rod are designed according to the screw rod transmission principle, the screw rod nut can drive the screw rod to move up and down, and the screw rod can drive the gripper lower plate to move up and down through the flange coupling. When the screw rod moves upwards, the gripper lower plate can be driven to move upwards by the upward movement of the gripper lower plate, and then the gripping jaws are driven to fold inwards, so that the object gripping is completed. When the screw rod moves downwards, the lower gripper plate can be driven to move downwards, the lower gripper plate can drive the clamping jaw fixing frame to move downwards, and then the clamping jaws are driven to open outwards, and object release is completed. The rotation of the driving boss gear II can drive the driven plane gear I to rotate, the rotation of the driven plane gear I can drive the rotating shaft to rotate, and the screw rod penetrates through the rotating shaft to realize coaxial driving. The rotation of the rotating shaft can drive the upper plate of the gripper to rotate, so that the position of the gripping jaw can be regulated and controlled.
The camera realizes image acquisition and remotely transmits the acquired environment image to the main-end human-computer interaction equipment. And the main-end man-machine interaction equipment displays the image and analyzes the image quality, judges whether the image meets the requirements or not, if the image does not meet the requirements, adjusts the angle of the camera, and acquires the image again for return display until the acquired image quality meets the requirements. And the brain processes the received visual information according to the image display of the main-end man-machine interaction equipment by the operator, and the mechanical arm is remotely controlled to find the object to be grabbed by combining the intention of the operator. After the position of the object to be grabbed is determined, a manual mode or an automatic mode is selected for grabbing operation.
The technical means disclosed in the invention scheme are not limited to the technical means disclosed in the above embodiments, but also include the technical scheme formed by any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and such improvements and modifications are also considered to be within the scope of the present invention.
Claims (10)
1. The utility model provides a load lightweight mechanical arm system on unmanned aerial vehicle, its characterized in that, includes unmanned aerial vehicle body (1), arm (2) and gripper (3), arm (2) install in unmanned aerial vehicle body (1) below, arm (2) end is installed gripper (3).
2. The unmanned aerial vehicle-mounted lightweight mechanical arm system according to claim 1, wherein: the mechanical arm (2) comprises a rotary table (2-6), an arm body and an electric push rod, and the mechanical claw (3) comprises a motor plate (3-9), a motor (3-1), a gear, a gripper plate, a connecting rod, a screw rod (3-14), a gripper fixing frame (3-8) and a gripper (3-16).
3. The unmanned aerial vehicle-mounted lightweight mechanical arm system according to claim 2, wherein: the unmanned aerial vehicle is characterized in that the rotary table (2-6) is fixedly arranged below the unmanned aerial vehicle body (1), the arm body comprises a first arm body (2-2), a second arm body (2-9) and a third arm body (2-4), one end of the first arm body (2-2) is hinged with the lower end of the rotary table (2-6), the other end of the first arm body is hinged with one end of the second arm body (2-9), the other end of the second arm body (2-9) is hinged with one end of the third arm body (2-4), and the mechanical claw (3) is fixedly arranged at the other end of the third arm body (2-4).
4. The unmanned aerial vehicle-mounted lightweight mechanical arm system according to claim 3, wherein: the electric push rod comprises a first electric push rod (2-7), a second electric push rod (2-8), a third electric push rod (2-3) and a fourth electric push rod (2-10), one end of each of the first electric push rod (2-7) and the second electric push rod (2-8) is hinged to the lower end of the rotary table (2-6), the other end of each of the first electric push rod (2-7) and the second electric push rod (2-8) is hinged to the outer end wall of the first arm body (2-2), one end of the third electric push rod (2-3) is hinged to the outer end wall of the first arm body (2-2), the other end of the third electric push rod is hinged to the second arm body (2-9), one end of the fourth electric push rod (2-10) is hinged to the outer end wall of the second arm body (2-9), and.
5. The unmanned aerial vehicle-mounted lightweight mechanical arm system according to claim 3, wherein: the camera support (2-5) is fixedly connected to the outer portion of the third arm body (2-4), and the end portion of the non-connecting end of the camera support (2-5) is hinged to a camera (2-1).
6. The unmanned aerial vehicle-mounted lightweight mechanical arm system according to claim 3, wherein: the motor plates (3-9) are fixedly connected with the arm body III (2-4), the motors (3-1) are two in number and are all arranged at the upper ends of the motor plates (3-9), the gears comprise driving boss gears I (3-2), driving boss gears II (3-13), driven plane gears I (3-3) and driven plane gears II (3-10), the gripper plates comprise gripper upper plates (3-4) and gripper lower plates (3-7), and the connecting rods comprise connecting rods I (3-5) and connecting rods II (3-6).
7. The unmanned aerial vehicle-mounted lightweight mechanical arm system according to claim 6, wherein: a driven plane gear II (3-10) is arranged on the middle side below the position of the motor plate (3-9), a driven plane gear I (3-3) is arranged under the position of the driven plane gear II (3-10), the output shaft of the motor (3-1) movably penetrates through the motor plate (3-9) and extends downwards, a driving boss gear I (3-2) is sleeved outside the output shaft of the motor (3-1) on one side and corresponds to the position of the driven plane gear II (3-10), a driving boss gear II (3-13) is sleeved outside the output shaft of the motor (3-1) on the other side and corresponds to the position of the driven plane gear I (3-3), a screw nut (3-11) is arranged at the inner end of the driven plane gear II (3-10), and one end of the screw nut (3-11) is connected with the motor plate (3-9), The other end of the driving mechanism is connected with a first driven plane gear (3-3) through a bearing (3-12), the upper gripper plate (3-4) is located below the first driven plane gear (3-3), a rotating shaft is arranged at the inner end of the first driven plane gear (3-3), and the end part of the lower end of the rotating shaft is connected with the upper gripper plate (3-4).
8. The unmanned aerial vehicle-mounted lightweight mechanical arm system of claim 7, wherein: the middle side under the position of the gripper upper plate (3-4) is provided with a gripper lower plate (3-7), clamping jaw fixing frames (3-8) are uniformly arranged under the position of the gripper upper plate (3-4) and beside the position of the gripper lower plate (3-7) in an equal radian manner, clamping jaws (3-16) are arranged at the lower ends of the clamping jaw fixing frames (3-8), the upper end walls of the clamping jaw fixing frames (3-8) are hinged with the side end walls of the gripper upper plate (3-4) through first connecting rods (3-5) and second connecting rods (3-6), the upper end walls of the clamping jaw fixing frames (3-8) are hinged with the side end walls of the gripper lower plate (3-7), the rotating shaft is arranged in a hollow mode, screw rods (3-14) penetrate through the inside of the rotating shaft, and one end part of each screw rod (3-14) is connected with the gripper lower plate (3-7) through flange couplers (3- 3-7) the upper end wall is connected, and the other end part extends into the feed screw nut (3-11).
9. The control method for matching the light weight arm system mounted on the unmanned aerial vehicle according to claim 1, wherein: the control method comprises the following steps:
the method comprises the following steps: the method comprises the steps that a camera is installed to serve as an image acquisition device, images of an external environment are acquired, and the acquired images are remotely transmitted to a main-end human-computer interaction device;
step two: the main end human-computer interaction equipment displays images and analyzes and judges the image quality;
step three: the brain processes the received visual information according to the image display of the main-end human-computer interaction equipment by an operator, and remotely controls the mechanical arm to find an object to be grabbed by combining the intention of the operator;
step four: after the position of the object to be grabbed is determined, the motion tail end pose of the mechanical arm is determined, and the grabbing operation can be carried out by freely selecting an operation mode.
10. The method of controlling a lightweight robot arm system mounted on an unmanned aerial vehicle according to claim 9, wherein: the operation mode comprises a manual operation mode and an automatic operation mode, the manual operation mode is manual remote control grabbing operation, and the automatic operation mode is mechanical and automatic grabbing operation.
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| CN117021063A (en) * | 2023-09-06 | 2023-11-10 | 南京理工大学 | Spring inhaul cable type bionic claw collaborative gripping method triggered by knee bending |
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