Multi-gripper bionic invisible unmanned aerial vehicle

Abstract

Front cantilevers are arranged on the two sides of the front end of an unmanned aerial vehicle body in an extending mode correspondingly, the free ends of the front cantilevers are connected with upward front propellers, rear cantilevers are arranged on the two sides of the rear end of the unmanned aerial vehicle body, and downward rear propellers are arranged at the free ends of the rear cantilevers; a head camera is further arranged at the front end of the unmanned aerial vehicle body, front clamping jaw assemblies are arranged on the two sides of the head camera, a plurality of lower clamping jaw assemblies are arranged on the two side faces of the middle of the unmanned aerial vehicle body respectively, the root of each lower clamping jaw assembly is driven by a swing motor, and a front propeller, a rear propeller and the multiple swing motors are connected with a control module; when the unmanned aerial vehicle flies, the control module controls the swing motor to stop action and starts the front propeller and the rear propeller; when the unmanned aerial vehicle needs to advance on the ground surface, the control module controls the swing motor to start and close the front propeller and the rear propeller.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a multi-gripper bionic stealth unmanned aerial vehicle. Background Art

[0002] When transporting goods, existing drones often only have a pair of claws, which results in the clamped goods being of a single fixed specification and unable to adapt well to the clamping and transportation of goods of different specifications; in addition, in the field military field, drones transporting goods often need to have good stealth performance to avoid being discovered by the enemy; in addition, existing drones only have flying functions and do not have land crawling functions. Summary of the invention

[0003] To this end, the present invention provides a multi-gripper bionic stealth drone to solve the above-mentioned problems in the prior art. In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: According to the first aspect of the present invention, a multi-gripper bionic stealth drone comprises a drone body, a front cantilever, a front propeller, a rear cantilever, a rear propeller, a head camera, a front gripper assembly, a lower gripper assembly, a swing motor and a control module; front cantilevers are respectively extended on both sides of the front end of the drone body, and the free ends of the front cantilevers are connected with an upward front propeller, and rear cantilevers are arranged on both sides of the rear end of the drone body, and the free ends of the rear cantilever are arranged with a downward rear propeller, a head camera is also arranged at the front end of the drone body, and front gripper assemblies are arranged on both sides of the head camera, and multiple lower gripper assemblies are respectively arranged on the two side surfaces of the middle part of the drone body, and the root of each lower gripper assembly is driven by a swing motor, and the front propeller, the rear propeller and the multiple swing motors are connected to the control module; when the drone is flying, the control module controls the swing motor to stop and turn on the front propeller and the rear propeller; when the drone needs to travel on the surface, the control module controls the swing motor to start and turn off the front propeller and the rear propeller.

[0004] Furthermore, it also includes a reel, a telescopic belt, a limiting spring wire and a tail frame; the reel is wound with the telescopic belt, the reel is located at the tail of the drone body, the telescopic belt passes through multiple tail frames in sequence, the limiting spring wire passes through multiple tail frames in sequence, and the multiple tail frames are distributed in a barb shape.

[0005] Furthermore, signal lights are arranged at the ends of the plurality of tail frames, batteries are installed on the top surface of the drone body, and the signal lights are electrically connected to the batteries via wires.

[0006] Furthermore, the top cover of the drone body is provided with an outer shell, and the surface of the outer shell is coated with a stealth coating.

[0007] Furthermore, a surface cover of each tail frame is provided with a tail shell, a plurality of tail shells are hinged in sequence, and a surface of each tail shell is coated with a stealth coating.

[0008] Furthermore, the front clamp assembly includes a front support arm, a telescopic sleeve A, a spring A, a telescopic column A, a front clamp A and a front clamp B; the root of the front support arm is installed on the drone body, the front end of the front support arm is hinged with the front clamp A and the front clamp B, one end of the telescopic sleeve A is hinged at the middle corner of the front support arm, the other end of the telescopic sleeve A is sleeved on one end of the telescopic column A, the other end of the telescopic column A is hinged to the end of the front clamp B, the spring A is sleeved at the connection between the telescopic sleeve A and the telescopic column A, and the two ends are respectively abutted against the ends of the telescopic sleeve A and the telescopic column A.

[0009] Furthermore, it also includes a rotating member, and the root of the front support arm is installed on the drone body through the rotating member.

[0010] Furthermore, the lower clamping jaw assembly includes a lower clamping jaw arm, a rotating protrusion, a telescopic sleeve B, a spring B, a telescopic column B, a spring C, a telescopic sleeve C, a telescopic column C and a lower clamping jaw arm; the middle and upper part of the lower clamping jaw arm is hinged to the side of the drone body, the lower end of the lower clamping jaw arm is hinged to the middle part of the lower clamping jaw arm, and the middle part of the lower clamping jaw arm is protruding with a rotating protrusion; one end of the telescopic sleeve B is installed on the output shaft of the swing motor, and the other end of the telescopic sleeve B is sleeved on one end of the telescopic column B, and the telescopic column B The other end is hinged to the top end of the lower clamping jaw's upper arm, and spring B is sleeved at the connection between telescopic sleeve B and telescopic column B, and the two ends of spring B respectively abut against the ends of telescopic sleeve B and telescopic column B; one end of telescopic sleeve C is hinged to the rotating protrusion, and the other end of telescopic sleeve C is sleeved on one end of telescopic column C, and the other end of telescopic column C is hinged to the upper end of the lower clamping jaw's lower arm, and spring C is sleeved at the connection between telescopic sleeve C and telescopic column C, and the two ends of spring C respectively abut against the ends of telescopic sleeve C and telescopic column C.

[0011] Furthermore, the inner surface of the lower end of the lower clamping jaw forearm is provided with a plurality of barbs.

[0012] Furthermore, a plurality of heat dissipation holes are provided on the surface of the shell.

[0013] The present invention has the following advantages: through the multi-gripper bionic stealth drone of the present invention, multiple claws can jointly clamp objects, thereby improving the stability of object clamping. In addition, the bionic appearance can better achieve the stealth performance of field delivery of objects, and both land crawling and air flight can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A three-dimensional internal structure diagram of a multi-gripper bionic stealth drone provided for some embodiments of the present invention.

[0015] Figure 2 A three-dimensional structural diagram of a multi-gripper bionic stealth drone provided for some embodiments of the present invention.

[0016] Figure 3 A structural diagram of the front gripper of a multi-gripper bionic stealth drone provided in some embodiments of the present invention.

[0017] Figure 4 A structural diagram of the lower gripper of a multi-gripper bionic stealth drone provided in some embodiments of the present invention.

[0018] Figure 5 A front view of a multi-gripper bionic stealth drone provided in some embodiments of the present invention.

[0019] Figure 6 A top view of a multi-gripper bionic stealth drone provided for some embodiments of the present invention.

[0020] Figure 7 A three-dimensional structural diagram from the bottom perspective of a multi-gripper bionic stealth drone provided in some embodiments of the present invention.

[0021] In the figure, 1. UAV body, 2. front cantilever, 3. front propeller, 4. rear cantilever, 5. rear propeller, 6. head camera, 7. front clamping jaw assembly, 8. lower clamping jaw assembly, 9. swing motor, 10. reel, 11. telescopic belt, 12. limit spring wire, 13. tail frame, 14. signal light, 15. shell, 16. tail shell, 17. rotating part, 18. front support arm, 19. telescopic sleeve A, 20. spring A, 21. telescopic column A, 22. front clamping jaw A, 23. front clamping jaw B, 24. lower clamping jaw upper arm, 25. rotating protrusion, 26. telescopic sleeve B, 27. spring B, 28. telescopic column B, 29. spring C, 30. telescopic sleeve C, 31. telescopic column C, 32. lower clamping jaw forearm, 33. barb. DETAILED DESCRIPTION

[0022] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are 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.

[0023] Example 1

[0024] like Figures 1 to 7As shown, a multi-gripper bionic stealth drone in the first embodiment of the present invention comprises a drone body 1, a front cantilever 2, a front propeller 3, a rear cantilever 4, a rear propeller 5, a head camera 6, a front clamping claw assembly 7, a lower clamping claw assembly 8, a swing motor 9 and a control module; front cantilevers 2 are respectively extended on both sides of the front end of the drone body 1, and the free end of the front cantilever 2 is connected to the upward front propeller 3, and rear cantilevers 4 are arranged on both sides of the rear end of the drone body 1, and the free end of the rear cantilever 4 is arranged with a downward rear propeller 5, and the front end of the drone body 1 is also A head camera 6 is provided, and front clamping jaw assemblies 7 are provided on both sides of the head camera 6. A plurality of lower clamping jaw assemblies 8 are respectively provided on the two side surfaces of the middle part of the UAV body 1. The root of each lower clamping jaw assembly 8 is driven by a swing motor 9. The front propeller 3, the rear propeller 5 and the plurality of swinging motors 9 are connected to the control module; when the UAV is flying, the control module controls the swinging motor 9 to stop and turn on the front propeller 3 and the rear propeller 5; when the UAV needs to travel on the surface, the control module controls the swinging motor 9 to start and turn off the front propeller 3 and the rear propeller 5.

[0025] In the above embodiment, it should be noted that when in use, when flying is required, the front propeller 3 and the rear propeller 5 jointly provide lift for the entire device, the head camera 6 realizes monitoring of the surrounding environment, and the front jaw assembly 7 and the lower jaw assembly 8 respectively realize the grasping of objects; when walking on the ground is required, the swing motor 9 drives the lower jaw assembly 8 to swing respectively, and the adjacent lower jaw assemblies 8 swing in opposite directions, thereby realizing movement on the ground.

[0026] The technical effect achieved by the above embodiment is: through a multi-gripper bionic stealth drone of this embodiment, multiple claws can jointly clamp objects, thereby improving the stability of object clamping. In addition, the bionic appearance can better achieve the stealth performance of field delivery of objects, and it can realize both land crawling and air flight.

[0027] Example 2

[0028] like Figures 1 to 7 As shown, a multi-gripper bionic stealth UAV includes all the contents of Example 1, and in addition, also includes a reel 10, a telescopic belt 11, a limiting spring wire 12 and a tail frame 13; the reel 10 is wound with the telescopic belt 11, the reel 10 is located at the tail of the UAV body 1, the telescopic belt 11 passes through multiple tail frames 13 in sequence, the limiting spring wire 12 passes through multiple tail frames 13 in sequence, and the multiple tail frames 13 are distributed in a barb shape.

[0029] Optionally, a signal light 14 is provided at the end of the plurality of tail frames 13, a battery is installed on the top surface of the drone body 1, and the signal light 14 is electrically connected to the battery via a wire.

[0030] Optionally, the top cover of the drone body 1 is provided with a shell 15, and the surface of the shell 15 is coated with a stealth coating.

[0031] Optionally, the surface cover of each tail frame 13 is provided with a tail shell 16, and the multiple tail shells 16 are hinged in sequence, and the surface of each tail shell 16 is coated with a stealth coating.

[0032] The technical effects achieved by the above embodiments are as follows: the telescopic belt 11 and the limiting spring wire 12 are used to adjust the bending degree of the tail frame 13; the signal light 14 is used to observe the flight position of the device; a stealth coating is provided on the surface of the outer shell 15 to achieve the stealth performance of the outer shell 15; a stealth coating is provided on the surface of the tail shell 16 to achieve the stealth performance of the tail shell 16.

[0033] Example 3

[0034] like Figures 1 to 7 As shown, a multi-gripper bionic stealth UAV includes all the contents of Example 2. In addition, the front clamp assembly 7 includes a front support arm 18, a telescopic sleeve A19, a spring A20, a telescopic column A21, a front clamp A22 and a front clamp B23; the root of the front support arm 18 is installed on the UAV body 1, the front end of the front support arm 18 is hinged with the front clamp A22 and the front clamp B23, one end of the telescopic sleeve A19 is hinged at the middle corner of the front support arm 18, the other end of the telescopic sleeve A19 is sleeved on one end of the telescopic column A21, the other end of the telescopic column A21 is hinged to the end of the front clamp B23, the spring A20 is sleeved at the connection between the telescopic sleeve A19 and the telescopic column A21, and the two ends are respectively abutted against the ends of the telescopic sleeve A19 and the telescopic column A21.

[0035] Optionally, a rotating member 17 is further included, and the root of the front support arm 18 is installed on the drone body 1 through the rotating member 17.

[0036] The technical effects achieved by the above embodiments are as follows: the front jaw A22 and the front jaw B23 cooperate to achieve the gripping of objects; the telescopic sleeve A19, the spring A20, and the telescopic column A21 provide the basis for the gripping force between the front jaw A22 and the front jaw B23; the setting of the rotating member 17 realizes the rotation function of the front jaw assembly 7.

[0037] Example 4

[0038] like Figures 1 to 7As shown, a multi-gripper bionic stealth drone includes all the contents of Example 3. In addition, the lower clamping jaw assembly 8 includes a lower clamping jaw arm 24, a rotating protrusion 25, a telescopic sleeve B26, a spring B27, a telescopic column B28, a spring C29, a telescopic sleeve C30, a telescopic column C31 and a lower clamping jaw arm 32; the middle and upper part of the lower clamping jaw arm 24 is hinged to the side of the drone body 1, the lower end of the lower clamping jaw arm 24 is hinged to the middle part of the lower clamping jaw arm 32, and the middle part of the lower clamping jaw arm 24 is protruding with a rotating protrusion 25; one end of the telescopic sleeve B26 is installed on the output shaft of the swing motor 9, and the other end of the telescopic sleeve B26 is sleeved on the telescopic column One end of the telescopic sleeve B28, the other end of the telescopic column B28 is hinged to the top end of the lower clamping jaw arm 24, the spring B27 is sleeved at the connection between the telescopic sleeve B26 and the telescopic column B28, and the two ends of the spring B27 respectively abut against the ends of the telescopic sleeve B26 and the telescopic column B28; one end of the telescopic sleeve C30 is hinged at the rotating protrusion 25, the other end of the telescopic sleeve C30 is sleeved at one end of the telescopic column C31, the other end of the telescopic column C31 is hinged to the upper end of the lower clamping jaw arm 32, the spring C29 is sleeved at the connection between the telescopic sleeve C30 and the telescopic column C31, and the two ends of the spring C29 respectively abut against the ends of the telescopic sleeve C30 and the telescopic column C31.

[0039] Optionally, a plurality of barbs 33 are provided on the inner surface of the lower end of the lower clamping jaw arm 32 .

[0040] The technical effects achieved by the above embodiments are as follows: the telescopic sleeve B26, the spring B27, and the telescopic column B28 provide elastic force for the rotation of the lower clamp arm 24; the spring C29, the telescopic sleeve C30, and the telescopic column C31 provide elastic force for the rotation of the lower clamp arm 32; and a plurality of barbs 33 are provided on the inner surface of the lower end of the lower clamp arm 32, thereby improving the gripping force of the lower clamp arm 32 on objects.

[0041] Example 5

[0042] like Figures 1 to 7 As shown, a multi-gripper bionic stealth drone includes all the contents of Example 4. In addition, a plurality of heat dissipation holes are provided on the surface of the shell 15.

[0043] The technical effect achieved by the above embodiment is: by providing the heat dissipation holes, the heat dissipation performance of the housing 15 is improved.

[0044] In the description of the present invention, it is to be understood that the terms “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0045] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0048] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

[0049] In the description of this specification, the description with reference to the terms "embodiment one", "embodiment two", "example", "specific example", or "some examples" means that the specific method, device or feature described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, methods, devices or features described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0050] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-gripper bionic stealth drone, characterized in that: The invention comprises an unmanned aerial vehicle body (1), a front cantilever (2), a front propeller (3), a rear cantilever (4), a rear propeller (5), a head camera (6), a front clamping claw assembly (7), a lower clamping claw assembly (8), a swing motor (9) and a control module; front cantilevers (2) are respectively provided on both sides of the front end of the unmanned aerial vehicle body (1), and the free ends of the front cantilever (2) are connected to the upward front propeller (3); rear cantilevers (4) are provided on both sides of the rear end of the unmanned aerial vehicle body (1), and the free ends of the rear cantilever (4) are provided with the downward rear propeller (5); the front end of the unmanned aerial vehicle body (1) is also provided with a head camera (6); Front gripper assemblies (7) are arranged on both sides of the head camera (6), and multiple lower gripper assemblies (8) are arranged on the two side surfaces of the middle part of the drone body (1), and the root of each lower gripper assembly (8) is driven by a swing motor (9), and the front propeller (3), the rear propeller (5) and the multiple swing motors (9) are connected to a control module; when the drone is flying, the control module controls the swing motor (9) to stop and start the front propeller (3) and the rear propeller (5); when the drone needs to travel on the ground, the control module controls the swing motor (9) to start and shut down the front propeller (3) and the rear propeller (5).

2. The multi-gripper bionic stealth drone according to claim 1, characterized in that: The invention also comprises a reel (10), a telescopic belt (11), a limit spring wire (12) and a tail frame (13); the reel (10) is wound with the telescopic belt (11), the reel (10) is located at the tail of the drone body (1), the telescopic belt (11) passes through a plurality of tail frames (13) in sequence, the limit spring wire (12) passes through a plurality of tail frames (13) in sequence, and the plurality of tail frames (13) are distributed in a barb shape.

3. The multi-gripper bionic stealth drone according to claim 2, characterized in that: Signal lights (14) are arranged at the ends of the plurality of tail frames (13), a storage battery is installed on the top surface of the drone body (1), and the signal lights (14) are electrically connected to the storage battery via a wire.

4. The multi-gripper bionic stealth drone according to claim 3, characterized in that: The top cover of the drone body (1) is provided with an outer shell (15), and the surface of the outer shell (15) is coated with a stealth coating.

5. The multi-gripper bionic stealth drone according to claim 4, characterized in that: The surface cover of each tail frame (13) is provided with a tail shell (16), a plurality of tail shells (16) are hinged in sequence, and the surface of each tail shell (16) is coated with a stealth coating.

6. The multi-gripper bionic stealth drone according to claim 1, characterized in that: The front clamping claw assembly (7) comprises a front support arm (18), a telescopic sleeve A (19), a spring A (20), a telescopic column A (21), a front clamping claw A (22) and a front clamping claw B (23); the root of the front support arm (18) is mounted on the drone body (1); the front end of the front support arm (18) is hingedly connected with the front clamping claw A (22) and the front clamping claw B (23); one end of the telescopic sleeve A (19) is hingedly connected to the middle corner of the front support arm (18); the other end of the telescopic sleeve A (19) is sleeved on one end of the telescopic column A (21); the other end of the telescopic column A (21) is hingedly connected to the end of the front clamping claw B (23); the spring A (20) is sleeved on the connection between the telescopic sleeve A (19) and the telescopic column A (21), and the two ends of the spring A (20) are respectively abutted against the ends of the telescopic sleeve A (19) and the telescopic column A (21).

7. The multi-gripper bionic stealth drone according to claim 6, characterized in that: It also includes a rotating member (17), and the root of the front support arm (18) is installed on the drone body (1) through the rotating member (17).

8. The multi-gripper bionic stealth drone according to claim 1, characterized in that: The lower clamping jaw assembly (8) comprises a lower clamping jaw arm (24), a rotating protrusion (25), a telescopic sleeve B (26), a spring B (27), a telescopic column B (28), a spring C (29), a telescopic sleeve C (30), a telescopic column C (31) and a lower clamping jaw arm (32); the middle upper part of the lower clamping jaw arm (24) is hinged to the side of the drone body (1), the lower end of the lower clamping jaw arm (24) is hinged to the middle part of the lower clamping jaw arm (32), and the middle part of the lower clamping jaw arm (24) is protruding with a rotating protrusion (25); one end of the telescopic sleeve B (26) is mounted on the output shaft of the swing motor (9), the other end of the telescopic sleeve B (26) is sleeved on one end of the telescopic column B (28), and the telescopic column B (28) is hinged to the middle part of the lower clamping jaw arm (32). The other end is hinged to the top end of the lower clamping jaw arm (24); the spring B (27) is sleeved at the connection between the telescopic sleeve B (26) and the telescopic column B (28), and the two ends of the spring B (27) respectively abut the ends of the telescopic sleeve B (26) and the telescopic column B (28); one end of the telescopic sleeve C (30) is hinged to the rotating protrusion (25), the other end of the telescopic sleeve C (30) is sleeved at one end of the telescopic column C (31), the other end of the telescopic column C (31) is hinged to the upper end of the lower clamping jaw arm (32), the spring C (29) is sleeved at the connection between the telescopic sleeve C (30) and the telescopic column C (31), and the two ends of the spring C (29) respectively abut the ends of the telescopic sleeve C (30) and the telescopic column C (31).

9. The multi-gripper bionic stealth drone according to claim 8, characterized in that: The inner surface of the lower end of the lower clamping jaw arm (32) is provided with a plurality of barbs (33).

10. The multi-gripper bionic stealth drone according to claim 4, characterized in that: A plurality of heat dissipation holes are provided on the surface of the housing (15).

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