Grasping structure for assisting drone handling

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and discloses a grabbing structure for assisting unmanned aerial vehicle transportation, including a connecting frame, a connecting block fixedly connected to the lower end of the connecting frame, a sliding rod connected between the connecting blocks, a sliding sleeve slidably connected to the sliding rod, a connecting rod connected between the sliding sleeves, a translation column connected to the connecting rod, a moving block slidably connected below the translation column, a connecting rod connected to one side of the moving block, a clamping bar connected to the connecting rod, an inclined groove provided on the moving block, a cylinder connected to the translation column, a T-shaped frame connected to the telescopic end of the cylinder, the T-shaped frame slidably connected to the inclined groove, and a stabilizing mechanism for centering and correcting the position of the translation column is connected to one side of the translation column. The present invention utilizes a sliding rod to enable the clamping bar used for grabbing items to move in the horizontal direction, that is, the grabbing structure is not fixedly arranged directly below the unmanned aerial vehicle, thereby increasing the grabbing range.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a grabbing structure for assisting unmanned aerial vehicle transportation. Background Art

[0002] Unmanned aerial vehicles, also known as "drones", are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices, or are operated completely or intermittently autonomously by on-board computers.

[0003] Drones can be divided into military and civilian applications according to their application areas. In the military, drones are divided into reconnaissance drones and target drones. In the civilian application area, drones plus industry applications are the real rigid demand for drones; their applications in aerial photography, agriculture, plant protection, micro selfies, express delivery, disaster relief, wildlife observation, infectious disease monitoring, surveying and mapping, news reporting, power inspections, disaster relief, film and television shooting, creating romance, etc. have greatly expanded the uses of drones themselves. Developed countries are also actively expanding industry applications and developing drone technology.

[0004] When traditional drones grab objects, they need to control the drone to move above the object, then the drone falls and relies on a manipulator to complete the grabbing of the object. Since traditional drones rely on four rotors installed on the top to fly, it is necessary to ensure that the rotors are not blocked during the grabbing process to avoid interference with the drone's grabbing flight. Therefore, traditional drones can only cope with grabbing objects on open ground. For objects in corners, the probability of rotor collision will increase as the drone approaches the corner.

[0005] Based on this, a grabbing structure for assisting UAV transportation is proposed. Summary of the invention

[0006] The purpose of the present invention is to solve the above-mentioned problem and to propose a grabbing structure for assisting drone transportation.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] The grabbing structure for assisting the handling of the unmanned aerial vehicle comprises a connecting frame, a connecting block is fixedly connected to the lower end of the connecting frame, a sliding rod is connected between the connecting blocks, a sliding sleeve is slidably connected to the sliding rod, a connecting rod is connected between the sliding sleeves, a translation column is connected to the connecting rod, a moving block is slidably connected to the lower side of the translation column, a connecting rod is connected to one side of the moving block, a clamping bar is connected to the connecting rod, an oblique groove is provided on the moving block, a cylinder is connected to the translation column, a T-shaped frame is connected to the telescopic end of the cylinder, and the T-shaped frame is slidably connected to the oblique groove;

[0009] One side of the translation column is connected to a stabilizing mechanism for centering and correcting the position of the translation column.

[0010] Preferably, a bolt barrel is connected to the connecting frame, and four bolt barrels are provided, and the four bolt barrels are symmetrically connected to both sides of the connecting frame.

[0011] Preferably, a fixing hoop is connected to the translation column, a slide rail plate is connected to the fixing hoop, an upper slide bar is connected to the moving block, and the upper slide bar is slidably connected to the slide rail plate.

[0012] Preferably, a screw rod is connected to one side of the clamping bar, a cushion block is sleeved on the screw rod, and the screw rod is connected to the connecting rod through a nut.

[0013] Preferably, an anti-slip strip is connected to one side of the clamping strip, and two anti-slip strips are symmetrically connected to the clamping strip.

[0014] Preferably, the stabilizing mechanism comprises V-block 2, which is connected to V-block 1 via a sleeve, the lower end of the connecting frame is connected to shaft block 1, shaft block 2 and spring block, shaft block 1 is connected to shaft 1, the sleeve is rotatably connected to shaft 1, shaft block 2 is connected to shaft 2, shaft 2 is rotatably connected to a deflection member, a connecting spring is connected between one end of the deflection member and the spring block, and the deflection member is connected to shaft 3.

[0015] Preferably, a pointer is connected to one end of the shaft, a semicircular groove is provided on the sleeve, and the pointer is slidably connected to the semicircular groove.

[0016] Preferably, a pressure roller is rotatably connected to the shaft three, and the outer side of the pressure roller abuts against the top of the V-shaped block one.

[0017] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0018] 1. The present application adopts a sliding rod structure, which makes the clamping bar used to grab objects move in the horizontal direction. That is, the grabbing structure is not fixedly arranged directly below the drone, which increases the grabbing range and ensures that when the drone grabs objects close to the wall, the drone can move the clamping bar to the side close to the object by tilting, while ensuring that the position of the drone rotor remains unchanged, thereby achieving the grabbing of objects and improving the applicability of the drone to grab objects in different positions.

[0019] 2. The present application adopts a V-block II structure, which can be used to correct the centering of the translation column, to ensure that when the drone moves to grab an object, the translation column can move to the middle position of the slide bar, and cooperate with the connecting spring to stabilize the center position of the translation column, to avoid the center of gravity of the overall structure of the drone being shifted due to the offset of the translation column, which would interfere with the normal flight of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It shows a schematic diagram of the overall structure of the grabbing structure provided according to an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of the structure of a gripping structure provided in an embodiment of the present invention when viewed from the bottom is shown;

[0022] Figure 3 It shows a schematic structural diagram of a connecting rod connection provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of an explosion structure of a V-shaped block connection provided according to an embodiment of the present invention is shown;

[0024] Figure 5 A schematic diagram of the side structure of the connection of the slide rail plate provided according to an embodiment of the present invention is shown;

[0025] Figure 6 A schematic diagram of an exploded structure of a moving block connection provided according to an embodiment of the present invention is shown.

[0026] Legend:

[0027] 1. Connecting frame; 2. Bolt cylinder; 3. Connecting block; 4. Slide rod; 5. Shaft block one; 6. Shaft block two; 7. Shaft one; 8. V-block one; 9. Connecting rod; 10. Clamping strip; 11. Screw rod; 12. Nut; 13. Spacer; 14. Sliding sleeve; 15. Translation column; 16. V-block two; 17. Spring block; 18. Connecting spring; 19. Deflection member; 20. Shaft two; 21. Pressure roller; 22. Sleeve; 23. Fixing hoop; 24. Slide rail plate; 25. Moving block; 26. Anti-slip strip; 27. Connecting rod; 28. Pointer; 29. ​​Shaft three; 30. Cylinder; 31. T-frame; 32. Semicircular groove; 33. Bevel groove; 34. Upper slide bar. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-6 , the present invention provides a technical solution:

[0030] The grabbing structure for assisting the handling of the unmanned aerial vehicle comprises a connecting frame 1, which is connected to the bottom of the unmanned aerial vehicle by the connecting frame 1. The structure makes the grabbing structure easy to install. The lower end of the connecting frame 1 is fixedly connected with a connecting block 3, and a sliding rod 4 is connected between the connecting blocks 3. The sliding rod 4 structure is provided with two, and the two sliding rods 4 are parallel and symmetrically arranged below the connecting frame 1. The sliding sleeves 14 are slidably connected to the sliding rods 4, and connecting rods 27 are connected between the sliding sleeves 14. The connecting rods 27 are connected with a translation column 15, and the translation column 15 is connected to the middle of the connecting rod 27. In the intermediate position, a moving block 25 is slidably connected below the translation column 15, a connecting rod 9 is connected to one side of the moving block 25, a clamping bar 10 is connected to the connecting rod 9, an inclined slot 33 is provided on the moving block 25, a cylinder 30 is connected to the translation column 15, one end of the cylinder 30 is connected to the translation column 15, a T-shaped frame 31 is connected to the telescopic end of the cylinder 30, and the T-shaped frame 31 can be driven to move by the extension and contraction of the cylinder 30, thereby driving the moving block 25 with the inclined slot 33 to move, and the T-shaped frame 31 is slidably connected to the inclined slot 33;

[0031] One side of the translation column 15 is connected to a stabilizing mechanism for centering and correcting the position of the translation column 15 .

[0032] Specifically, Figure 1 As shown, a bolt barrel 2 is connected to the connecting frame 1, and four bolt barrels 2 are provided. The four bolt barrels 2 are symmetrically connected on both sides of the connecting frame 1. For drones of different sizes, an appropriate connecting frame 1 structure needs to be selected. The convenience of installing the grabbing structure is improved by providing the bolt barrel 2.

[0033] Specifically, Figure 5 and Figure 6 As shown, a fixing hoop 23 is connected to the translation column 15, a slide plate 24 is connected to the fixing hoop 23, an upper slide bar 34 is connected to the moving block 25, the upper slide bar 34 is slidably connected to the slide plate 24, a slide groove which is adapted to the upper slide bar 34 is provided on the slide plate 24, so as to improve the sliding stability of the moving block 25 on the slide plate 24. By setting the fixing hoop 23, the translation column 15 and the slide plate 24 are stably connected.

[0034] Specifically, Figure 6As shown, a screw rod 11 is connected to one side of the clamping bar 10, and a pad 13 is sleeved on the screw rod 11. The screw rod 11 is connected to the connecting rod 9 through a nut 12. By setting the pad 13 structure, the distance between the connecting rod 9 and the clamping bar 10 can be adjusted. When it is necessary to increase the clamping force of the clamping bar 10 on the object, the distance between the clamping bars 10 can be reduced during clamping by increasing the length of the pad 13. The connecting rod 9 and the screw rod 11 are not threadedly connected, and the nut 12 is used to push the connecting rod 9 and the pad 13 to squeeze each other. In order to ensure the clamping and grasping stability of the clamping bar 10, two screw rods 11 structures can be connected on the outside of the clamping bar 10 to ensure that the clamping bar 10 is always in an initial horizontal state to avoid structural tilt.

[0035] Specifically, Figure 3 As shown, an anti-slip strip 26 is connected to one side of the clamping strip 10, and two anti-slip strips 26 are symmetrically connected to the clamping strip 10. By providing the anti-slip strips 26, the stability of the clamping strip 10 in clamping objects is increased to prevent objects from falling during the grasping process.

[0036] Specifically, Figure 4 As shown, the stabilizing mechanism includes a V-block 2 16, which is connected to a V-block 1 8 through a sleeve 22, and a shaft block 1 5, a shaft block 2 6 and a spring block 17 are connected to the lower end of the connecting frame 1, and the shaft block 1 5 is fixedly connected to the shaft block 2 6, and the shaft block 1 7 is connected to the shaft block 1 5, and the shaft 7 is vertically fixedly connected to one side of the shaft block 1 5, and the sleeve 22 is rotatably connected to the shaft 1 7, and the sleeve 22 structure is sleeved on one end of the shaft 1 7, and the shaft block 2 6 is connected to the shaft 2 20, and the shaft 2 20 is rotatably connected to the deflection member 19, and the deflection member 19 has a "V"-shaped structure, and a connecting spring 18 is connected between one end of the deflection member 19 and the spring block 17, and the deflection member 19 is connected to the shaft three 29.

[0037] Specifically, Figure 4 and Figure 5 As shown, a pointer 28 is connected to one end of the shaft 7, a semicircular groove 32 is provided on the sleeve 22, and the pointer 28 is slidably connected to the semicircular groove 32. The deflection angle of the V-block 8 is limited by the restriction of the semicircular groove 32 and the pointer 28, thereby improving the stability of the rotation of the V-block 8 structure.

[0038] Specifically, Figure 3 and Figure 4 As shown, a pressure roller 21 is rotatably connected to the shaft three 29, and the outer side of the pressure roller 21 abuts against the top of the V-block 8. The pressure roller 21 is provided to reduce structural wear. When the V-block 8 deflects, the pressure roller 21 structure starts to rotate around the shaft three 29, and the V-block 8 and the pressure roller 21 are in rolling contact.

[0039] In summary, the grabbing structure for assisting the transport of a drone provided in this embodiment needs to be used in conjunction with a drone. When in use, the connecting frame 1 needs to be installed at the lower end of the drone, and the screws need to be connected by the bolt barrel 2, and the screws need to be connected to the drone;

[0040] When it is necessary to grab and transfer an item at a specific position, the drone is controlled to move above the item, and then the drone falls to ensure that the clamping bars 10 are located on both sides of the item, wherein the shape of the clamping bars 10 can be changed according to the shape of the grabbed item. When grabbing, the cylinder 30 is controlled to extend to drive the T-frame 31 to move, so that the T-frame 31 slides in the inclined groove 33. Since the inclined groove 33 is inclined, when the T-frame 31 moves, it can drive the two moving blocks 25 to move closer to each other. In this process, the upper slide bar 34 slides on the slide rail plate 24, and the connecting rod 9 is used to drive the clamping bar 10 to complete the clamping of the item.

[0041] When it is inconvenient to grab the wall or other position, the drone can be tilted by controlling the sliding sleeves 14 connected on both sides of the translation column 15 to slide on the sliding rod 4, so that the translation column 15 overcomes the deviation of the V-shaped block 16, so that the grabbing structure directly below the connecting frame 1 moves to the oblique lower part of the connecting frame 1. When grabbing objects close to the wall, the drone can move the clamping bar 10 to the object close to the wall without getting close to the wall, and then control the cylinder 30 to extend and retract to achieve the grabbing of the object. After the grabbing is completed, the drone moves away from the wall and then keeps the drone horizontal. At this time, the V-shaped block 16 set on one side of the translation column 15 can quickly correct the deviation of the translation column 15 and stabilize the center position of the translation column 15, thereby improving the structural stability of the drone during flight.

[0042] When the drone is tilted, the translation column 15 overcomes the deviation correction effect of the V-shaped block 16 under the action of gravity and slides along the slide bar 4. In this process, the connecting spring 18 is stretched. The force provided to the V-shaped block 16 to correct the deviation of the translation column 15 is achieved by pressing the V-shaped block 18 with the pressure roller 21, and the downward pressure of the pressure roller 21 is achieved by pulling the deflection member 19 with the connection spring 18. When the V-shaped block 18 deflects to either side, it will drive the connection spring 18 to be stretched.

[0043] The grabbing structure can increase the applicability of drones in carrying items, ensuring that drones can carry items at any location. During transportation, the grabbing structure can be moved directly under the drone, thereby stabilizing the structural center of gravity of the drone. The movement of the grabbing structure and the adjustment to restore the initial position are both automatic, which effectively simplifies the process of grabbing and moving items and reduces the failure rate of the grabbing structure.

[0044] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A grabbing structure for assisting drone handling, comprising a connecting frame (1), characterized in that: The lower end of the connecting frame (1) is fixedly connected to a connecting block (3), a sliding rod (4) is connected between the connecting blocks (3), a sliding sleeve (14) is slidably connected to the sliding rod (4), a connecting rod (27) is connected between the sliding sleeves (14), a translation column (15) is connected to the connecting rod (27), a moving block (25) is slidably connected below the translation column (15), a connecting rod (9) is connected to one side of the moving block (25), a clamping bar (10) is connected to the connecting rod (9), an inclined groove (33) is provided on the moving block (25), a cylinder (30) is connected to the translation column (15), a telescopic end of the cylinder (30) is connected to a T-shaped frame (31), and the T-shaped frame (31) is slidably connected to the inclined groove (33); One side of the translation column (15) is connected to a stabilizing mechanism for centering and correcting the position of the translation column (15); The translation column (15) is connected to a fixing hoop (23), the fixing hoop (23) is connected to a slide rail plate (24), the moving block (25) is connected to an upper slide bar (34), and the upper slide bar (34) is slidably connected to the slide rail plate (24); When grasping, the cylinder (30) is controlled to extend, driving the T-frame (31) to move, so that the T-frame (31) slides in the inclined groove (33). Since the inclined groove (33) is inclined, when the T-frame (31) moves, it can drive the two moving blocks (25) to move closer to each other. During this process, the upper slide bar (34) slides on the slide rail plate (24), and the connecting rod (9) drives the clamping bar (10) to complete the clamping of the object.

2. The grabbing structure for assisting drone transportation according to claim 1, characterized in that: The connecting frame (1) is connected to a bolt barrel (2), four of the bolt barrels (2) are provided, and the four bolt barrels (2) are symmetrically connected to two sides of the connecting frame (1).

3. The grabbing structure for assisting drone transportation according to claim 1, characterized in that: A screw rod (11) is connected to one side of the clamping strip (10), a cushion block (13) is sleeved on the screw rod (11), and the screw rod (11) is connected to the connecting rod (9) via a nut (12).

4. The grabbing structure for assisting drone transportation according to claim 3, characterized in that: One side of the clamping strip (10) is connected to an anti-slip strip (26), and two anti-slip strips (26) are symmetrically connected to the clamping strip (10).

5. The grabbing structure for assisting drone transportation according to claim 1, characterized in that: The stabilizing mechanism comprises a V-shaped block 2 (16), the V-shaped block 2 (16) being connected to a V-shaped block 1 (8) via a sleeve (22), the lower end of the connecting frame (1) being connected to a shaft block 1 (5), a shaft block 2 (6) and a spring block (17), the shaft block 1 (5) being connected to a shaft 1 (7), the sleeve (22) being rotatably connected to the shaft 1 (7), the shaft block 2 (6) being connected to a shaft 2 (20), the shaft 2 (20) being rotatably connected to a deflection member (19), a connecting spring (18) being connected between one end of the deflection member (19) and the spring block (17), and the deflection member (19) being connected to a shaft 3 (29).

6. The grabbing structure for assisting drone transportation according to claim 5, characterized in that: A pointer (28) is connected to one end of the shaft (7), a semicircular groove (32) is provided on the sleeve (22), and the pointer (28) is slidably connected to the semicircular groove (32).

7. The grabbing structure for assisting drone transportation according to claim 5, characterized in that: A pressure roller (21) is rotatably connected to the shaft three (29), and the outer side of the pressure roller (21) abuts against the top of the V-shaped block one (8).

Images