Unmanned aerial vehicle remote control hoisting mechanical claw and control method thereof

Abstract

The present application relates to the technical field of hoisting mechanical claws, and specifically discloses a remote control hoisting mechanical claw of an unmanned aerial vehicle, which comprises an unmanned aerial vehicle base and a mounting frame, the mounting frame is arranged below the unmanned aerial vehicle base, the inside of the unmanned aerial vehicle base is connected with the mounting frame through a mounting mechanism, the bottom of the mounting frame is symmetrically provided with two clamping claws, and the four sides of the unmanned aerial vehicle base are respectively provided with first and second anti-falling mechanisms. In the present application, during the process that the two clamping claws grab an article and move upwards, the first anti-falling mechanism is arranged between the two clamping claws, the two first pull ropes can be wound through the two rotating shafts, and then the two clamping claws can be pulled to maintain the clamping state, so that the risk that the article falls downwards due to the failure of the clamping claws is avoided, the safety of ground workers is ensured, and the hoisting work can be smoothly carried out.

Description

TECHNICAL FIELD

[0001] The present application relates to a hoisting mechanical claw and a control method thereof, in particular to a remote control hoisting mechanical claw of a unmanned aerial vehicle and a control method thereof, and belongs to the technical field of hoisting mechanical claws. BACKGROUND

[0002] The unmanned aerial vehicle is a kind of unmanned aircraft that is controlled by radio remote control equipment and self-provided program control device, or is completely or intermittently operated by vehicle-mounted computer. According to application field, the unmanned aerial vehicle can be divided into military and civilian. In the military aspect, the unmanned aerial vehicle is divided into reconnaissance aircraft and target aircraft. In the civilian aspect, the unmanned aerial vehicle + industry application is the real need of the unmanned aerial vehicle, which greatly expands the purpose of the unmanned aerial vehicle itself, and developed countries are also actively expanding industry applications and developing unmanned aerial vehicle technology. The hoisting mechanical claw works by using a motor, the claw fingers can be tightened and loosened freely under the action of electricity, and positioning, fixed-point control and controllability can also be achieved. Moreover, the clamping force of the hoisting mechanical claw is controllable, which can be controlled by using a motion controller, thereby realizing the functions of grabbing, positioning and hoisting of the working object, and is also the terminal for executing mechanical equipment.

[0003] The remote control hoisting mechanical claw of the unmanned aerial vehicle in the prior art has a complex structure and is relatively clumsy to operate. After long-term use, the internal parts are worn out, so that the mechanical claw fails when grabbing heavy objects, delays the work, and the objects fall from the sky to the ground, which affects the safety of the ground workers and also causes damage to the objects. The mechanical claw in the prior art does not have a device for handling such extreme situations, so the mechanical claw cannot achieve the best use effect. SUMMARY

[0004] The purpose of the present application is to solve the problems in the prior art and provide a remote control hoisting mechanical claw of a unmanned aerial vehicle and a control method thereof.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical scheme:

[0006] A remote control hoisting mechanical claw of a unmanned aerial vehicle, comprising a unmanned aerial vehicle base and a mounting frame, the mounting frame is arranged below the unmanned aerial vehicle base, the inside of the unmanned aerial vehicle base is connected with the mounting frame through a mounting mechanism, the bottom of the mounting frame is symmetrically provided with two clamping claws, and the four sides of the unmanned aerial vehicle base are respectively provided with a first anti-falling mechanism and a second anti-falling mechanism.

[0007] Optionally, two first sliding grooves are formed in the bottom of the mounting frame, two electric sliding blocks are installed in the inside of the two first sliding grooves, and the top ends of the two clamping claws are connected with the bottom ends of the electric sliding blocks in the two first sliding grooves.

[0008] Optionally, the first anti-off mechanism comprises two rotating shafts, the two rotating shafts are rotatably installed at two ends of the unmanned aerial vehicle base, and the unmanned aerial vehicle base is provided with a groove near the two rotating shafts, the outer wall of the two rotating shafts in the groove is provided with a first winding wheel, and the outer wall of the two first winding wheels is wound with a first pull rope.

[0009] Optionally, the inside of the mounting frame is provided with a fixed shaft, the outer wall of the fixed shaft is provided with two guide wheels, and the outer wall of the guide wheels opposite to the first winding wheels is slidably connected with the two first pull ropes.

[0010] Optionally, the end of the two first pull ropes away from the first winding wheels is provided with a first fixing member, and the two first pull ropes are connected with the clamping jaws close to the first fixing members.

[0011] Optionally, the second anti-off mechanism comprises a plurality of second winding wheels, the front and back surfaces of the unmanned aerial vehicle base are provided with a second sliding groove, the two second sliding grooves are provided with two moving blocks, the plurality of second winding wheels are installed on the outer walls of the moving blocks away from the unmanned aerial vehicle base, and the outer walls of the plurality of second winding wheels are wound with a second pull rope.

[0012] Optionally, the end of the plurality of second pull ropes away from the second winding wheels is provided with a second fixing member, the outer walls of the two clamping jaws close to the unmanned aerial vehicle base are provided with a connecting block, and the plurality of second pull ropes are threadedly connected with the connecting blocks close to the second fixing members.

[0013] Optionally, the two rotating shafts are provided with a third winding wheel at two ends, the outer walls of the plurality of third winding wheels are wound with a third pull rope, and the end of the plurality of third pull ropes away from the third winding wheels is connected with the moving blocks close to the third winding wheels through a spring.

[0014] Optionally, the mounting mechanism comprises a rectangular groove provided at the top of the unmanned aerial vehicle base, the inside of the rectangular groove is provided with a double-shaft motor, the two output ends of the double-shaft motor are coaxially connected with threaded sleeves, the interiors of the two threaded sleeves are threadedly provided with threaded rods, the ends of the two threaded rods away from each other are provided with moving plates, the outer walls of the two moving plates away from each other are provided with limiting rods, the top of the mounting frame is symmetrically provided with two connecting plates, and the outer walls of the two connecting plates are provided with limiting grooves matched with the limiting rods.

[0015] A kind of unmanned aerial vehicle remote control hoisting mechanical claw and its control method, the control method is applied to the hoisting mechanical claw in the above, and the control method contains the following steps:

[0016] Step one: when the two clamping jaws are clamping the object, the external driving motor drives the two clamping jaws to rotate towards each other, and after the two clamping jaws clamp the object, the two rotating shafts are started to rotate to wind the two first pull ropes, so that when the two clamping jaws maintain the clamping state, the two first pull ropes are also in a tensioned state, avoiding the risk of the clamping jaw failing and the object falling down;

[0017] Step two: the rotating shaft can drive the two ends of the third winding wheel to wind the third pull rope while winding the first pull rope, and when the extreme situation of both the two clamping jaws and the rotating shaft failing occurs, the rotating shaft reverses to drive the third pull rope wound on the outer wall of the third winding wheel to be in an elongated state, the spring returns to drive the moving block to move away from the rotating shaft in the second sliding groove, the second winding wheel on the outer wall of the moving block is started and winds the second pull rope, so that the two clamping jaws can rotate towards each other to clamp and fix the object, avoiding the damage caused by the object falling down, and further improving the safety of the mechanical claw during use;

[0018] Step three: when the two clamping jaws clamp and hoist the cylindrical object with a smooth surface, after the two clamping jaws clamp the cylindrical object, the connection between the second fixing part of the plurality of second pull ropes and the connecting block on the outer wall of the clamping jaw is released, and the plurality of second pull ropes are wound around the two ends of the cylindrical object to further limit and fix the two ends of the cylindrical object, improving the safety of the clamping jaw during hoisting and transporting the cylindrical object, and preventing the cylindrical object from falling off during the journey;

[0019] Step four: when the mounting frame is installed at the bottom of the unmanned aerial vehicle base, the top ends of the two connecting plates extend into the rectangular groove, the double-shaft motor is started, the two output ends of the double-shaft motor are rotated together, and the threaded sleeves inside the two threaded sleeves are pushed to insert the limiting rods into the limiting grooves on the outer wall of the connecting plates, so that the mounting frame can be installed and fixed.

[0020] The beneficial effects of the present application are:

[0021] 1、In the present application, during the process of the two clamping jaws grabbing the object and moving upwards, the first anti-disengagement mechanism is arranged between the two clamping jaws, the two rotating shafts can drive the two first pull ropes to be wound, thereby pulling the two clamping jaws to maintain the clamping state, avoiding the risk of the clamping jaw failing and the object falling down, protecting the safety of the ground workers, and enabling the hoisting work to be carried out smoothly.

[0022] 2. In this invention, when both grippers and the first anti-detachment mechanism fail during use, the two grippers will rotate in opposite directions and drive the shaft to rotate via the pull rope. As the shaft rotates, it will drive the third winding wheel at both ends to rotate, causing the third pull rope to extend. The spring elastically resets and drives the two moving blocks to move closer to each other, and activates the second winding wheel to drive the second pull rope to wind up. This allows the two grippers to continue rotating in opposite directions, maintaining the gripping state of the item. This prevents the item from falling and being damaged in the extreme case where both grippers and the first anti-detachment mechanism fail, thus avoiding more serious consequences.

[0023] 3. In this invention, the mounting mechanism installed inside the drone base allows for quick installation or removal of the mounting frame and its two grippers at the bottom, facilitating the lifting of items by the two grippers. Attached Figure Description

[0024] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of a drone-controlled hoisting mechanical claw proposed in this invention;

[0026] Figure 2 for Figure 1 A structural diagram from another angle;

[0027] Figure 3 This is a schematic diagram of the installation mechanism in this invention;

[0028] Figure 4 for Figure 3 Enlarged structural diagram of section A in the middle;

[0029] Figure 5 This is a schematic diagram of the structure of the rotating shaft in this invention;

[0030] Figure 6 for Figure 5 Enlarged structural diagram of section B in the middle.

[0031] In the diagram: 1. Drone base; 2. Mounting bracket; 3. Gripper; 4. First slide groove; 5. Electric slider; 6. Fixed shaft; 7. Guide wheel; 8. First pull rope; 9. Second pull rope; 10. Rectangular groove; 11. Connecting plate; 12. Limiting groove; 13. Connecting block; 14. Second fixing component; 15. Second winding wheel; 16. Second slide groove; 17. Groove; 18. Dual-axis motor; 19. Threaded sleeve; 20. Threaded rod; 21. Moving plate; 22. Limiting rod; 23. First fixing component; 25. Rotating shaft; 26. First winding wheel; 27. Moving block; 28. Spring; 29. ​​Third winding wheel; 30. Third pull rope. DETAILED DESCRIPTION

[0032] The technical solutions of the present application will be described clearly and completely below in conjunction with the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0033] Referring to Figures 1-6 The unmanned aerial vehicle remote control hoisting mechanical claw comprises an unmanned aerial vehicle base 1 and a mounting frame 2, the mounting frame 2 is arranged below the unmanned aerial vehicle base 1, the inside of the unmanned aerial vehicle base 1 is connected with the mounting frame 2 through the arranged mounting mechanism, the bottom of the mounting frame 2 is symmetrically provided with two clamping jaws 3, and the four sides of the unmanned aerial vehicle base 1 are respectively provided with first anti-falling mechanisms and second anti-falling mechanisms.

[0034] As a technical optimization scheme of the present application, two first sliding grooves 4 are formed in the bottom of the mounting frame 2, two electric sliding blocks 5 are arranged in the inside of each of the two first sliding grooves 4, and the top end of each of the two clamping jaws 3 is connected with the bottom end of the electric sliding block 5 in the first sliding groove 4. In the process that the two groups of electric sliding blocks 5 move in the first sliding grooves 4 towards each other or away from each other, the distance between the two clamping jaws 3 will be reduced or increased, thereby the two clamping jaws 3 can adapt to the clamping and hoisting of different sizes of articles, and the applicability of the two clamping jaws 3 is greatly improved.

[0035] As a technical optimization scheme of the present application, the first anti-falling mechanism comprises two rotating shafts 25, the two rotating shafts 25 are respectively rotatably arranged at the two ends of the unmanned aerial vehicle base 1, recesses 17 are formed in the positions of the unmanned aerial vehicle base 1 close to the two rotating shafts 25, first winding wheels 26 are arranged on the outer walls of the two rotating shafts 25 in the recesses 17, and the outer walls of the two first winding wheels 26 are wound with first pull ropes 8.

[0036] As a technical optimization scheme of the present application, a fixed shaft 6 is arranged in the inside of the mounting frame 2, two guide wheels 7 are arranged on the outer wall of the fixed shaft 6, and the ends of the two first pull ropes 8 away from the first winding wheels 26 are respectively slidably matched with the outer walls of the opposite guide wheels 7.

[0037] As a technical optimization scheme of the present application, the two first pull ropes 8 are provided with first fixing members 23 at the ends away from the first winding wheels 26, and the two first pull ropes 8 are connected to the clamping jaws 3 close to the first fixing members 23. When the two clamping jaws 3 clamp the article, the distance between the two clamping jaws 3 is adjusted according to the size of the article, and then the two clamping jaws 3 are driven to rotate towards each other by the external driving motor. After the two clamping jaws 3 clamp the article, the two rotating shafts 25 are started to rotate, driving the two first winding wheels 26 to rotate synchronously, so that the two first winding wheels 26 can wind the two first pull ropes 8. The other ends of the two first pull ropes 8 are pulled by the two guide wheels 7 on the outer wall of the fixed shaft 6 in the mounting frame 2, so that the two clamping jaws 3 maintain the clamping state, and the two first pull ropes 8 are also in a tensioned state. Even if the clamping jaws 3 suddenly fail during the process of grabbing the article and moving upward, the two clamping jaws 3 can still be pulled by the two first pull ropes 8, avoiding the risk of the article falling downward due to the failure of the clamping jaws 3, ensuring the safety of the ground workers and enabling the lifting work to be carried out smoothly. Moreover, the two first pull ropes 8 are installed with the clamping jaws 3 through the detachable first fixing members 23, which facilitates the replacement of the first pull ropes 8 used for a long time to maintain the anti-dropping effect of the first pull ropes 8.

[0038] As a technical optimization scheme of the present application, the second anti-dropping mechanism includes a plurality of second winding wheels 15, and the front and back surfaces of the unmanned aerial vehicle base 1 are provided with second sliding grooves 16. Two moving blocks 27 are installed in the two second sliding grooves 16, and a plurality of second winding wheels 15 are installed on the outer walls of the moving blocks 27 away from the unmanned aerial vehicle base 1. The outer walls of the plurality of second winding wheels 15 are wound with second pull ropes 9.

[0039] As a technical optimization scheme of the present application, the plurality of second pull ropes 9 are provided with second fixing members 14 at the ends away from the second winding wheels 15, and the two sides of the outer walls of the two clamping jaws 3 close to the unmanned aerial vehicle base 1 are provided with connecting blocks 13. The plurality of second pull ropes 9 are threadedly connected to the connecting blocks 13 close to the second fixing members 14.

[0040] As a technical optimization scheme of the present application, the two ends of the two rotating shafts 25 are provided with third winding wheels 29, the outer walls of the plurality of third winding wheels 29 are wound with third pull ropes 30, and the ends of the plurality of third pull ropes 30 away from the third winding wheels 29 are connected to the moving blocks 27 close to the third winding wheels 29 through the springs 28. Since the third winding wheels 29 are arranged at the two ends of the rotating shaft 25, the rotating shaft 25 can drive the two ends of the third winding wheels 29 to wind the third pull rope 30 while winding the first pull rope 8, and the ends of the third pull rope 30 away from the third winding wheels 29 are connected to the moving blocks 27 through the springs 28, so that the third pull rope 30 wound on the outer wall of the third winding wheel 29 can also pull the spring 28 and the moving block 27 to move in the second sliding groove 16 towards the rotating shaft 25 at the same time. When the two clamping jaws 3 clamp the hoisted object, and in the extreme case that both the clamping jaws 3 and the rotating shaft 25 are disabled, the rotating shaft 25 will be stretched downward by the first pull rope 8 close to the end of the clamping jaw 3, causing the rotating shaft 25 to reverse, so that the third winding wheels 29 at both ends of the rotating shaft 25 reverse, and the third pull rope 30 wound on the outer wall of the third winding wheel 29 is in an elongated state, driving the spring 28 to reset, so that the moving block 27 moves in the second sliding groove 16 away from the rotating shaft 25. Since the moving block 27 is provided with the second winding wheel 15, and the outer wall of the second winding wheel 15 is wound with the second pull rope 9, the end of the second pull rope 9 away from the second winding wheel 15 is threadedly connected to the connecting block 13 on the outer wall of the clamping jaw 3 through the second fixing piece 14, so that when the two clamping jaws 3 are disabled and rotate away from each other, the second winding wheel 15 can be started and wind the second pull rope 9, so that the two clamping jaws 3 can rotate towards each other to continue to clamp and fix the object, avoiding the object from falling downward and causing damage, further improving the safety of the mechanical claw during use. Moreover, when the two clamping jaws 3 clamp and hoist the cylindrical object with a smooth surface, the connection between the second fixing piece 14 of the plurality of second pull ropes 9 and the connecting block 13 on the outer wall of the clamping jaw 3 can be released after the two clamping jaws 3 clamp the cylindrical object, and the plurality of second pull ropes 9 are wound around the two ends of the cylindrical object to further fix the two ends of the cylindrical object, avoiding the two clamping jaws 3 from shaking during the hoisting and transportation of the cylindrical object by the unmanned aerial vehicle, causing the cylindrical object to easily fall off between the two clamping jaws 3, improving the safety of the clamping jaw 3 during the hoisting and transportation of the cylindrical object, and preventing the cylindrical object from easily falling off during the journey.

[0041] As a technical optimization scheme of the present application, the mounting mechanism comprises a rectangular groove 10 opened at the top of the unmanned aerial vehicle base 1, a double-shaft motor 18 is mounted in the rectangular groove 10, a threaded sleeve 19 is coaxially connected to each output end of the double-shaft motor 18, a threaded rod 20 is threadedly mounted in each threaded sleeve 19, a moving plate 21 is mounted at the end away from the double-shaft motor 18 of each threaded rod 20, and a limiting rod 22 is mounted on the outer wall of the side away from the double-shaft motor 18 of each moving plate 21. When the mounting rack 2 needs to be quickly mounted at the bottom of the unmanned aerial vehicle base 1, the two connecting plates 11 at the top of the mounting rack 2 are inserted into the sockets at the bottom of the unmanned aerial vehicle base 1, and after the top ends of the two connecting plates 11 extend into the rectangular groove 10, the double-shaft motor 18 is started to make the threaded sleeves 19 mounted at the two output ends of the double-shaft motor 18 rotate together, thereby driving the threaded rods 20 in the threaded sleeves 19 to extend away from the double-shaft motor 18 and moving the moving plates 21 and the limiting rods 22 away from the double-shaft motor 18 until the two limiting rods 22 are inserted into the limiting grooves 12 in the outer walls of the connecting plates 11. The mounting rack 2 can be mounted and fixed, which is convenient, fast and easy to operate. When the connection between the mounting rack 2 and the unmanned aerial vehicle base 1 needs to be released, the two clamping jaws 3 at the bottom of the mounting rack 2 can be slowly lowered downward by the first pull ropes 8 to clamp and hoist ground objects. Only the double-shaft motor 18 needs to be controlled again to start and reverse the threaded sleeves 19 at the two output ends, so that the moving plates 21 and the limiting rods 22 are moved toward the double-shaft motor 18, the limiting rods 22 are removed from the limiting grooves 12, and the mounting rack 2 can be automatically separated from the unmanned aerial vehicle base 1, which is convenient for clamping and hoisting ground objects by the clamping jaws 3.

[0042] An unmanned aerial vehicle remote control hoisting mechanical claw and a control method thereof. The control method is applied to the hoisting mechanical claw mentioned above, and the control method comprises the following steps:

[0043] Step one: when the two clamping jaws 3 clamp the object, the external drive motor drives the two clamping jaws 3 to rotate toward each other. After the two clamping jaws 3 clamp the object, the two rotating shafts 25 are started to rotate to wind the two first pull ropes 8, so that when the two clamping jaws 3 maintain the clamping state, the two first pull ropes 8 are also in a tensioned state, avoiding the risk of the object falling downward due to the failure of the clamping jaws 3;

[0044] Step two: the rotating shaft 25 can drive the two ends of the third winding wheel 29 to wind the third pull rope while winding the first pull rope 8, when the two clamping jaws 3 and the rotating shaft 25 are both disabled, the third pull rope wound on the outer wall of the third winding wheel 29 is in an elongated state, the spring 28 is reset to drive the moving block 27 to move in the second sliding groove 16 away from the rotating shaft 25, the second winding wheel 15 on the outer wall of the moving block 27 is started and winds the second pull rope 9, so that the two clamping jaws 3 can rotate towards each other, continue to clamp and fix the article, avoid the damage caused by the article falling down, further improve the safety of the mechanical claw during use;

[0045] Step three: when the two clamping jaws 3 clamp and hoist the cylindrical article with a smooth surface, the connection between the second fixing part 14 of the plurality of second pull ropes 9 and the connecting block 13 on the outer wall of the clamping jaw 3 is released after the two clamping jaws 3 clamp the cylindrical article, and the plurality of second pull ropes 9 are wound around the two ends of the cylindrical article to further limit and fix the two ends of the cylindrical article, improve the safety of the clamping jaw 3 during hoisting and transporting the cylindrical article, and prevent it from falling off during the journey;

[0046] Step four: when the mounting frame 2 is installed at the bottom of the unmanned aerial vehicle base 1, the top ends of the two connecting plates 11 extend into the rectangular groove 10, the double-shaft motor 18 is started, the two output ends of the double-shaft motor 18 are installed in the threaded sleeve 19, and the two threaded sleeves 19 are rotated, so that the threaded rods 20 in the two threaded sleeves 19 can push the limiting rods 22 to be inserted into the limiting grooves 12 on the outer wall of the connecting plates 11, so that the mounting frame 2 can be installed and fixed.

[0047] In the present application, when the two clamping jaws 3 clamp the article, the distance between the two clamping jaws 3 is adjusted according to the size of the article, then the external driving motor drives the two clamping jaws 3 to rotate towards each other, after the two clamping jaws 3 clamp the article, the two rotating shafts 25 are started to rotate, driving the two first winding wheels 26 to rotate synchronously, so that the two first winding wheels 26 can wind the two first pull ropes 8, and the two guide wheels 7 on the outer wall of the fixed shaft 6 in the mounting frame 2 pull the other end of the first pull rope 8, so that when the two clamping jaws 3 are in a clamping state, the two first pull ropes 8 are also in a tensioned state, even if the clamping jaw 3 fails suddenly during the process of grabbing the article and moving upwards, the two clamping jaws 3 can still be pulled by the two first pull ropes 8, avoiding the risk of the article falling down due to the failure of the clamping jaw 3, ensuring the safety of the ground workers and enabling the hoisting work to proceed smoothly; and the two first pull ropes 8 and the clamping jaw 3 are installed by the detachable first fixing part 23, which facilitates the replacement of the first pull rope 8 used for a long time to maintain the anti-disengagement effect of the first pull rope 8.

[0048] Since the third winding wheels 29 are arranged at both ends of the rotating shaft 25, the rotating shaft 25 can wind the third pull rope 30 while winding the first pull rope 8, and the end of the third pull rope 30 away from the third winding wheel 29 is connected to the moving block 27 through the spring 28, so that the third pull rope 30 is wound on the outer wall of the third winding wheel 29 while the spring 28 and the moving block 27 are synchronously moved in the second sliding groove 16 towards the rotating shaft 25. When the two clamping jaws 3 clamp the goods and the extreme case that both the clamping jaws 3 and the rotating shaft 25 are disabled occurs, the rotating shaft 25 is stretched downward by the first pull rope 8 near the end of the clamping jaw 3, drives the rotating shaft 25 to reverse, so that the third winding wheels 29 at both ends of the rotating shaft 25 are reversed, and the third pull rope 30 wound on the outer wall of the third winding wheel 29 is in an elongated state, drives the spring 28 to reset, and moves the moving block 27 in the second sliding groove 16 away from the rotating shaft 25. Since the moving block 27 is provided with the second winding wheel 15, and the second pull rope 9 is wound on the outer wall of the second winding wheel 15, the end of the second pull rope 9 away from the second winding wheel 15 is threadedly connected to the connecting block 13 on the outer wall of the clamping jaw 3 through the second fixing piece 14, so that when the two clamping jaws 3 are disabled and rotate away from each other, the second winding wheel 15 can be started and wind the second pull rope 9, so that the two clamping jaws 3 can rotate towards each other to continue to clamp and fix the goods, avoiding the damage caused by the goods falling down, and further improving the safety of the mechanical claw in use.

[0049] Moreover, when the two clamping jaws 3 clamp and lift the cylindrical goods with smooth surface, the connection between the second fixing pieces 14 of the plurality of second pull ropes 9 and the connecting block 13 on the outer wall of the clamping jaw 3 can be released after the two clamping jaws 3 clamp the cylindrical goods, and the plurality of second pull ropes 9 are wound around the two ends of the cylindrical goods to further fix the two ends of the cylindrical goods, avoiding the shaking of the two clamping jaws 3 during the lifting and transportation of the cylindrical goods by the unmanned aerial vehicle, so that the cylindrical goods are easily separated from the two clamping jaws 3, improving the safety of the clamping jaws 3 during the lifting and transportation of the cylindrical goods, and preventing the cylindrical goods from falling off during the journey.

[0050] When it is needed to quickly install the mounting frame 2 at the bottom of the unmanned aerial vehicle base 1, the two connecting plates 11 at the top of the mounting frame 2 are inserted into the insertion holes at the bottom of the unmanned aerial vehicle base 1 until the top ends of the two connecting plates 11 extend into the rectangular grooves 10, then the double-shaft motor 18 is started to rotate the two output end-mounted threaded sleeves 19 together, thereby enabling the threaded rods 20 inside the two threaded sleeves 19 to extend away from the double-shaft motor 18, and the moving plate 21 and the limiting rods 22 are pushed to move away from the double-shaft motor 18 until the two limiting rods 22 are inserted into the limiting grooves 12 on the outer walls of the connecting plates 11, that is, the mounting frame 2 can be installed and fixed, which is convenient, fast and easy to operate.

[0051] When it is needed to disconnect the mounting frame 2 from the unmanned aerial vehicle base 1, so that the two clamping jaws 3 at the bottom of the mounting frame 2 can slowly descend downward through the first pull rope 8 to clamp and hoist the ground objects, only the double-shaft motor 18 is controlled to start again, and the two output end-mounted threaded sleeves 19 are reversed to move the moving plate 21 and the limiting rods 22 towards the double-shaft motor 18, and the limiting rods 22 are removed from the limiting grooves 12, so that the mounting frame 2 can be automatically separated from the unmanned aerial vehicle base 1, and the clamping jaws 3 are convenient for clamping and hoisting the ground objects.

[0052] The preferred embodiments disclosed above are only used to help explain the present application. The preferred embodiments do not describe all the details and do not limit the application to the specific embodiments described. Obviously, many modifications and changes can be made according to the content of the present application. The present application selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can well understand and utilize the present application. The present application is limited by the claims and their entire scope and equivalents.

Claims

1. A remotely controlled crane mechanical claw for unmanned aerial vehicles, comprising a UAV base (1) and a mounting rack (2), characterized in that, The mounting frame (2) is arranged below the unmanned aerial vehicle base (1), the inside of the unmanned aerial vehicle base (1) is connected with the mounting frame (2) through the arranged mounting mechanism, and the bottom of the mounting frame (2) is symmetrically provided with two clamping jaws (3); four sides of the unmanned aerial vehicle base (1) are respectively provided with first anti-dropping mechanisms and second anti-dropping mechanisms. The first anti-dropping mechanism comprises two rotating shafts (25), the two rotating shafts (25) are rotatably arranged at two ends of the unmanned aerial vehicle base (1), recesses (17) are formed in positions close to the two rotating shafts (25) of the unmanned aerial vehicle base (1), first winding wheels (26) are arranged on outer walls of the two rotating shafts (25) in the recesses (17), and first pull ropes (8) are wound on outer walls of the two first winding wheels (26). First fixing members (23) are arranged at one ends of the two first pull ropes (8) away from the first winding wheels (26), and the two first pull ropes (8) are connected with the clamping jaws (3) close to the first fixing members (23) through the first fixing members (23). The second anti-dropping mechanism comprises a plurality of second winding wheels (15), second sliding grooves (16) are formed in front and back surfaces of the unmanned aerial vehicle base (1), two moving blocks (27) are arranged in the two second sliding grooves (16), the plurality of second winding wheels (15) are arranged on outer walls of the plurality of moving blocks (27) away from the unmanned aerial vehicle base (1), and second pull ropes (9) are wound on outer walls of the plurality of second winding wheels (15). Second fixing members (14) are arranged at one ends of the plurality of second pull ropes (9) away from the second winding wheels (15), connecting blocks (13) are arranged on two side outer walls of the two clamping jaws (3) close to the unmanned aerial vehicle base (1), and the plurality of second pull ropes (9) are threadedly connected with the connecting blocks (13) close to the second fixing members (14) through the second fixing members (14). Third winding wheels (29) are arranged at two ends of the two rotating shafts (25), third pull ropes (30) are wound on outer walls of the plurality of third winding wheels (29), and one ends of the plurality of third pull ropes (30) away from the third winding wheels (29) are connected with the moving blocks (27) close to the one ends through springs (28).

2. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 1, characterized in that, The bottom of the mounting frame (2) is provided with two first sliding grooves (4), two electric sliding blocks (5) are arranged in the two first sliding grooves (4), and top ends of the two clamping jaws (3) are connected with bottom ends of the electric sliding blocks (5) in the two first sliding grooves (4).

3. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 2, characterized in that, A fixing shaft (6) is arranged in the mounting frame (2), two guide wheels (7) are arranged on an outer wall of the fixing shaft (6), and one ends of the two first pull ropes (8) away from the first winding wheels (26) are in sliding fit with outer walls of the guide wheels (7) opposite to the one ends.

4. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 3, characterized in that, The mounting mechanism comprises a rectangular groove (10) opened at the top of the unmanned aerial vehicle base (1), a double-shaft motor (18) is mounted in the rectangular groove (10), coaxial threaded sleeves (19) are connected to the two output ends of the double-shaft motor (18), threaded rods (20) are threadedly mounted in the two threaded sleeves (19), moving plates (21) are mounted at the ends away from each other of the two threaded rods (20), and limit rods (22) are mounted on the outer walls of the sides away from each other of the two moving plates (21).

5. A control method of a drone remote control hoisting mechanical claw, characterized in that, The control method is applied to the hoisting mechanical claw in the above claim 4, and the control method comprises the following steps: Step one: when the two clamping jaws (3) are clamping the object, the two clamping jaws (3) are driven to rotate towards each other by the external driving motor, and after the two clamping jaws (3) clamp the object, the two rotating shafts (25) are started to rotate to wind the two first pull ropes (8), so that when the two clamping jaws (3) maintain the clamping state, the two first pull ropes (8) are also in a tensioned state, avoiding the risk that the object will fall down due to the failure of the clamping jaws (3); Step two: the rotating shaft (25) can drive the two ends of the third winding wheel (29) to wind the third pull rope while winding the first pull rope (8), when the extreme situation that both the two clamping jaws (3) and the rotating shaft (25) fail occurs, the third pull rope wound on the outer wall of the third winding wheel (29) is in an elongated state under the reverse rotation of the rotating shaft (25), the spring (28) is reset to drive the moving block (27) to move in the second sliding groove (16) away from the rotating shaft (25), the second winding wheel (15) on the outer wall of the moving block (27) is started and winds the second pull rope (9), so that the two clamping jaws (3) can rotate towards each other to continue clamping and fixing the object, avoiding the damage caused by the falling of the object, and further improving the safety of the mechanical claw during use; Step three: when the two clamping jaws (3) clamp and hoist the cylindrical object with a smooth surface, the connection between the second fixing piece (14) of the multiple second pull ropes (9) and the connecting block (13) on the outer wall of the clamping jaw (3) is released after the two clamping jaws (3) clamp the cylindrical object, and the multiple second pull ropes (9) are wound around the two ends of the cylindrical object to further limit and fix the two ends of the cylindrical object, improving the safety of the clamping jaw (3) during hoisting and transporting the cylindrical object, and preventing the cylindrical object from falling easily during the journey. Step four: when installing the mounting frame (2) at the bottom of the unmanned aerial vehicle base (1), the top end of the two connecting plates (11) extends to the inside of the rectangular groove (10), and then the double-shaft motor (18) is started, so that the two output end installed threaded sleeves (19) of the double-shaft motor (18) rotate together, and in turn can drive the threaded rods (20) inside the two threaded sleeves (19) to push the limiting rods (22) inserted in the limiting grooves (12) on the outer wall of the connecting plates (11), that is, the mounting frame (2) can be installed and fixed.

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