Modular grabbing device and method suitable for unmanned aerial vehicle to grab logistics goods

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to a modular grabbing device and method suitable for an unmanned aerial vehicle to grab logistics cargos, an X-shaped folding frame is horizontally installed below an unmanned aerial vehicle body, and a clamping jaw is fixedly installed on the outer side of a clamping sleeve; the supporting frame is in a V shape, and an arc-shaped clamping plate is arranged at the rotating center of the supporting frame. A sucker is arranged on the lower surface of the suspended baffle, a driving assembly is arranged above the suspended baffle, and the driving assembly drives the folding frame to be folded and vacuumizes an inner cavity of the sucker at the same time; the device has the beneficial effects that the X-shaped folding frame is arranged, the clamping jaws are installed at the lower ends of the clamping rods, the two arc-shaped clamping plates are arranged, small-size goods can be grabbed from the two sides, the goods with rough surfaces are directly clamped and grabbed through friction force, the goods with smooth surfaces are grabbed in an auxiliary mode through vacuum adsorption of the suction cups, and the grabbing efficiency is improved. Therefore, the device adapts to different types of goods, and the application range of the device is widened.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a modular grabbing device and method suitable for unmanned aerial vehicles to grab logistics goods. Background Art

[0002] A drone is an unmanned aircraft that is controlled by a radio remote control device and a self-contained program control device. In the process of e-commerce logistics and warehousing and distribution, drones are often used to grab logistics goods to reduce manual labor intensity and labor costs.

[0003] In the prior art, a Chinese invention with publication number CN112109901A discloses a drone grabbing mechanism, which enables the drone to grab and place objects with the cooperation of a driving component and a grabbing component.

[0004] However, at present, due to factors such as the volume, weight, shape and surface smoothness of logistics goods, the adaptability of drone grabbing devices is low. After grabbing the goods, the stability of the grabbing is difficult to ensure, which affects the normal delivery of logistics goods. To this end, the present invention proposes a modular grabbing device and method suitable for drones to grab logistics goods to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a modular grabbing device and method suitable for grabbing logistics goods by drones, so as to solve the problem that the drone grabbing device proposed in the above background technology has low adaptability to grabbing different types of goods.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a modular grabbing device suitable for grabbing logistics goods by a drone, comprising a drone body, an "X"-shaped folding frame is horizontally installed below the drone body, a clamping rod is fixedly installed at four ends of the folding frame, a clamping sleeve is rotatably installed on the outer side of the lower end of the clamping rod, and a clamping claw is fixedly installed on the outer side of the clamping sleeve; The support frame is in a "V" shape, and two support frames are provided and are symmetrically distributed on both sides below the folding frame. The two ends of the two support frames are movably sleeved on the outside of the four clamping rods, and an arc-shaped clamping plate is provided at the rotation center of the support frame; A suspended baffle is fixedly installed below the drone body, a suction cup is arranged on the lower surface of the suspended baffle, and a driving component is arranged above the suspended baffle, and the driving component drives the folding frame to fold and simultaneously vacuums the inner cavity of the suction cup.

[0007] Preferably, the folding frame includes two mutually intersecting strip plates, and a central axis is rotatably mounted at the intersection, and the upper end of the central axis is fixedly connected to the drone body.

[0008] Preferably, the driving assembly includes a driving motor fixedly mounted on the upper surface of the suspended baffle, a driving turntable fixedly mounted on the output end of the driving motor, two driving pins symmetrically distributed in the center are fixedly arranged at the edge of the upper surface of the driving turntable, a driving plate driven to move by the driving pin is arranged on the outer side of the driving pin, one end of the driving plate is fixedly connected to a linkage plate, and the two ends of the linkage plate are respectively slidably connected to one end of two strip plates.

[0009] Preferably, the lower surfaces of both ends of the strip plate are provided with limiting sliding grooves, the inner cavity of the limiting sliding grooves is slidably mounted with sliding pins adapted thereto, and the two ends of the linkage plate are rotatably connected to the two sliding pins respectively.

[0010] Preferably, a slot plate is fixedly provided at the other end of the driving plate, the driving pin shaft movably passes through the inner cavity of the slot plate and is slidably connected thereto, a suspension rod is fixed to the upper surface of the suspended baffle plate, an avoidance groove is penetrated through the surface of the driving plate, and the suspension rod is movably connected to the avoidance groove, and limit baffles fixedly connected to the suspension rod are fitted on the upper and lower sides of the driving plate.

[0011] Preferably, an annular plate is fixedly mounted on the lower surface of the driving turntable, a driving groove is penetrated through the surface of the annular plate, a transmission pin is penetrated through the inner cavity of the driving groove, a piston rod is fixedly mounted in the middle of the transmission pin, a negative pressure cylinder is sleeved on the outer side of the piston rod, and the negative pressure cylinder is connected to the inner cavity of the suction cup, a sealing piston is fixedly connected to the lower end of the piston rod, and the sealing piston is slidably mounted in the inner cavity of the negative pressure cylinder and adapted thereto.

[0012] Preferably, the driving groove is arranged in a spiral structure, a guide groove is opened on the surface of the suspension rod, and one end of the transmission pin is movably inserted in the inner cavity of the guide groove, and a connecting wing plate is fixedly arranged on the upper end of the suspension rod, and the connecting wing plate is fixedly connected to the lower surface of the drone body by bolts.

[0013] Preferably, the clamping jaws are in a "T" shape, the clamping sleeve is fixed at the intersection of the clamping jaws, the intersection of the clamping jaws is staggered from the midpoint of one side thereof, arc-shaped clamping plates are fixedly provided on both sides of the clamping jaws, and a flexible pad is bonded and fixed to the inner wall of the arc-shaped clamping plate.

[0014] Preferably, the support frame is composed of two movable plates rotatably connected to each other, and a support shaft is provided at the rotating connection, the outer side of the support shaft is provided with a shaft sleeve, and the arc-shaped clamping plate is fixedly connected to the shaft sleeve, and a hollow sleeve is fixedly provided at the end of the movable plate, and the hollow sleeve is movably sleeved on the outer side of the clamping rod.

[0015] A grabbing method according to the modular grabbing device suitable for grabbing logistics goods by a drone specifically comprises the following steps: Step 1: Move the drone body to the top of the cargo, unfold the folding frame and the support frame, change the support frame from an acute angle to an obtuse angle, and then move the drone body downward until the suction cup on the lower surface of the suspended baffle presses on the upper surface of the cargo; Step 2: Fold the folding frame and drive the supporting frame to fold accordingly. If the cargo is large, the clamping claw at the lower end of the clamping rod will first clamp on the surface of the cargo. If the cargo is small, the arc-shaped clamping plate on the supporting frame will clamp the cargo tightly. Step 3: While the goods are being clamped and held, the suction cup uses its own negative pressure to vacuum absorb the goods and assist in grasping.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention is provided with an "X"-shaped folding frame, and clamping rods are fixed at the four ends of the folding frame. Clamping claws are installed at the lower ends of the clamping rods. By folding or unfolding the folding frame, long strips of goods of different widths can be grabbed. A "V"-shaped supporting frame is arranged between the two clamping rods, and an arc-shaped clamping plate is arranged at the rotation center of the supporting frame. There are two arc-shaped clamping plates in total, which can grab small-sized goods from both sides. A driving turntable is arranged above the suspended baffle, and a suction cup is arranged on the lower surface of the suspended baffle. When the driving turntable rotates, the folding frame can be driven to rotate and the inner cavity of the suction cup can be vacuumed at the same time, so that the upper surface of the goods can be vacuum-adsorbed and assisted in grabbing with the help of the suction cup. For goods with rough surfaces, the present invention directly clamps and grabs them by friction, and for goods with smooth surfaces, the present invention assists in grabbing them by vacuum adsorption of the suction cup, thereby adapting to different types of goods and increasing the scope of application of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention; Figure 2 It is an exploded schematic diagram of the suspended baffle and folding frame structure of the present invention; Figure 3 It is a three-dimensional schematic diagram of the folding frame structure of the present invention; Figure 4 It is a three-dimensional schematic diagram of the clamping jaw structure of the present invention; Figure 5 It is a three-dimensional schematic diagram of the support frame structure of the present invention; Figure 6 This is a three-dimensional schematic diagram of the driving turntable structure of the present invention; Figure 7 This is a schematic diagram of the connection structure between the strip plate and the driving plate of the present invention; Figure 8 It is a three-dimensional schematic diagram of the annular plate structure of the present invention; Fig. 9 This is a schematic diagram of the installation of the transmission pin structure of the present invention; Fig.10 This is a schematic diagram of grabbing goods with smooth surfaces according to the present invention; Fig.11 This is a schematic diagram of grabbing long strips of goods according to the present invention; Fig.12 The figure is a schematic diagram of grabbing another long strip of goods according to the present invention.

[0018] In the figure: 1. UAV body; 2. folding frame; 21. strip plate; 22. central axis; 23. limit slide; 24. sliding pin; 3. clamping rod; 31. clamping sleeve; 32. clamping claw; 33. arc-shaped clamping plate; 34. flexible pad; 4. support frame; 41. movable plate; 42. support shaft; 43. bushing; 44. arc-shaped clamping plate; 5. suspended baffle; 51. suction cup; 52. suspension rod; 521. limit baffle; 522. guide groove; 523. connecting wing plate; 53. driving motor; 54. driving turntable; 55. driving pin shaft; 6. driving plate; 61. slot plate; 62. avoidance slide; 63. linkage plate; 7. annular plate; 71. driving slide; 8. transmission pin; 81. piston rod; 82. sealing piston; 83. negative pressure cylinder. DETAILED DESCRIPTION

[0019] In order to make the purpose and technical solution of the present invention clearly and completely described, and the advantages more clearly understood, the embodiments of the present invention are further described in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are part of the embodiments of the present invention, rather than all of the embodiments, and are only used to explain the embodiments of the present invention, and are not used to limit 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.

[0020] See also Figures 1 to 12 , the present invention provides a technical solution: Embodiment 1, a modular grabbing device suitable for grabbing logistics goods by a drone, includes a drone body 1, a support frame 4 and a suspended baffle 5.

[0021] Specifically, an "X"-shaped folding frame 2 is horizontally installed below the drone body 1. The folding frame 2 can be folded or unfolded. Clamping rods 3 are fixedly installed at the four ends of the folding frame 2. A clamping sleeve 31 is rotatably installed on the outer side of the lower end of the clamping rod 3. A clamping claw 32 is fixedly installed on the outer side of the clamping sleeve 31. Fig.11 and Fig.12 Shown Fig.12 The goods in Fig.11The dotted line in the figure indicates that when the folding frame 2 is being folded or unfolded, the clamping claw 32 can clamp and grab large-sized or long-shaped goods from the side; Secondly, the support frame 4 is in a "V" shape, and two support frames 4 are provided and are symmetrically distributed on both sides below the folding frame 2. The two ends of the two support frames 4 are movably sleeved on the outside of the four clamping rods 3, and the support frames 4 are symmetrically arranged on the two sides below the folding frame 2. Figure 1 and Figure 5 As shown, when the folding frame 2 is folded, the support frame 4 is folded accordingly. When it is unfolded, the support frame 4 is unfolded accordingly, changing from an acute angle state to an obtuse angle state, until it is unfolded into a "one" shape. This is the maximum folding stroke of the support frame 4. The support frame 4 can limit the unfolding stroke of the folding frame 2. Fig.11 and Fig.12 It can be seen that: ① When the folding frame 2 is folded, the clamping claw 32 is mainly used to clamp and grab the strip-shaped goods with a smaller Y-axis width and a larger X-axis length; ② When the folding frame 2 is unfolded, the clamping claw 32 is mainly used to clamp and grab goods with larger dimensions in both X and Y axes; In the above two cases, the cargo will hinder the downward movement of the support frame 4. That is to say, when the drone body 1 moves downward, the support frame 4 first rests on the upper surface of the cargo, but the clamp 32 can continue to move downward, and then the folding frame 2 can be folded or unfolded to clamp and grab the cargo with the help of the clamp 32.

[0022] Furthermore, an arc-shaped clamping plate 44 is provided at the rotation center of the support frame 4, such as Fig.10 and Figure 1 As shown, when the overall size of the cargo is small, the arc-shaped clamping plate 44 will not be blocked by the cargo during the downward movement of the drone body 1, and the arc-shaped clamping plate 44 can be moved down to the side of the cargo. At this time, by folding the folding frame 2 and driving the support frame 4 to fold, the two arc-shaped clamping plates 44 can respectively clamp and grab the cargo from both sides; From the above, it can be seen that when the device is used, it can adapt to the external dimensions of the goods and clamp and grab goods of different shapes and sizes, thus having a wider range of applications; In addition, the suspended baffle 5 is fixedly installed below the drone body 1, a suction cup 51 is arranged on the lower surface of the suspended baffle 5, and a driving component is arranged above the suspended baffle 5, which drives the folding frame 2 to fold and simultaneously vacuum the inner cavity of the suction cup 51. Fig.10 and Fig.12 As shown, no matter the device is clamping and grabbing large-sized, small-sized, or long-shaped goods, the suction cup 51 can be attached to the upper surface of the goods from top to bottom, and the goods can be assisted to be adsorbed by negative pressure, thereby improving the stability of the goods after being grabbed: ① If the surface of the goods is rough, the suction cup 51 is difficult to adsorb the goods, but the clamping claw 32 (or the arc-shaped clamping plate 44) and the goods can generate a strong friction force, thereby ensuring the stable grasping of the goods; ② If the surface of the goods is smooth, although the friction between the clamping claw 32 (or the arc-shaped clamping plate 44) and the goods is small, the suction cup 51 can vacuum adsorb the goods and ensure stable grasping of the goods; The device uses a driving component to simultaneously drive the folding frame 2 to fold (or unfold) and the suction cup 51 to perform vacuum adsorption. When facing goods of different shapes, sizes, and surface materials (i.e., surface smoothness), it can adaptively grasp and has a more flexible and efficient grasping solution. In addition, according to actual usage requirements, the device can also install sensing elements such as touch switches or pressure sensors known in the prior art on the lower surface of the suspended baffle 5, and identify and judge the relative position between the cargo and the suspended baffle 5 through the cooperation of the relevant sensing elements and the controller, and control the start and stop of the driving component.

[0023] In order to connect the folding frame 2 with the drone body 1, the folding frame 2 of the present application includes two intersecting strip plates 21, and a central shaft 22 is rotatably installed at the intersection, and the upper end of the central shaft 22 is fixedly connected to the drone body 1, such as Figure 2 and Figure 3 As shown, the vertical relative position between the folding frame 2 and the drone body 1 remains fixed, and the two strip plates 21 can rotate around the central axis 22.

[0024] In order to drive the folding frame 2 to fold or unfold, the driving assembly of the present application includes a driving motor 53 fixedly mounted on the upper surface of the suspended baffle 5, and a driving turntable 54 is fixedly mounted on the output end of the driving motor 53. When the driving motor 53 is working, it can drive the driving turntable 54 to rotate. The driving motor 53 is a forward and reverse motor known in the prior art, which can drive the driving turntable 54 to rotate forward or reversely. Two driving pins 55 symmetrically distributed at the center are fixedly arranged at the edge of the upper surface of the driving turntable 54. A driving plate 6 driven to move by the driving pin 55 is arranged on the outer side of the driving pin 55. One end of the driving plate 6 is fixedly connected to a linkage plate 63, and the two ends of the linkage plate 63 are respectively slidably connected to one end of the two strip plates 21, such as Figure 6 and Figure 7 As shown: ① When the driving turntable 54 rotates in the positive direction, the two driving plates 6 move closer to each other, and the folding frame 2 can rotate and unfold through the connection of the linkage plate 63. In addition, in order to avoid the two driving plates 6 from colliding with each other, the two driving plates 6 of the device are staggered in the height direction; ② On the contrary, when the driving turntable 54 rotates in the opposite direction, the two driving plates 6 move away from each other, and the folding frame 2 can rotate and fold.

[0025] In order to drive the folding frame 2 to fold or unfold by the driving plate 6, the present application also has limited sliding grooves 23 on the lower surfaces of both ends of the strip plate 21, and the inner cavity of the limited sliding groove 23 is slidably installed with a sliding pin 24 adapted thereto, and the sliding pin 24 is in an "I" shape as a whole, and the upper end of the sliding pin 24 can only slide in the inner cavity of the limited sliding groove 23, and the two ends of the linkage plate 63 are respectively rotatably connected to the lower ends of the two sliding pins 24, such as Figure 7 As shown, the driving plate 6 and the linkage plate 63 move synchronously and drive the two folding frames 2 to rotate around the central axis 22 at the same time. Since the sliding pin 24 can suspend the driving plate 6, in order to avoid the two driving plates 6 from colliding with each other, the lengths of the sliding pins 24 on the two linkage plates 63 of the device are different, as shown in FIG. Figure 7 As shown, the sliding pin 24 on the left linkage plate 63 is shorter and flush with the lower surface of the strip plate 21 , while the sliding pin 24 on the right linkage plate 63 is longer and a gap is left between the right linkage plate 63 and the lower surface of the strip plate 21 .

[0026] In order to limit and position the driving plate 6, the present application also has a slot plate 61 fixedly arranged at the other end of the driving plate 6, and the driving pin 55 movably penetrates the inner cavity of the slot plate 61 and is slidably connected thereto, such as Figure 6 As shown, the driving pin shaft 55 can slide in the inner cavity of the groove plate 61. When the driving pin shaft 55 changes its rear position with the rotation of the driving turntable 54, the driving pin shaft 55 can drive the driving plate 6 to move by squeezing the inner wall of the groove plate 61, and the two driving plates 6 move synchronously in opposite directions. A suspension rod 52 is fixed on the upper surface of the suspended baffle plate 5. An avoidance groove 62 is opened on the surface of the driving plate 6, and the suspension rod 52 is movably connected with the avoidance groove 62. The setting of the avoidance groove 62 is used to avoid collision with the suspension rod 52. The suspension rod 52 cooperates with the avoidance groove 62 to control the movement of the driving plate 6. To limit the trajectory, it is necessary to know that in order to prevent the driving plate 6 from rotating around the suspension rod 52 in the middle, a cutout groove needs to be opened on the surface of the suspension rod 52, and the cutout groove and the inner wall of the avoidance slide 62 are fitted together, or a square sleeve is fixedly arranged on the surface of the suspension rod 52, and the surface of the square sleeve is fitted with the inner wall of the avoidance slide 62. In addition, limit baffles 521 fixedly connected to the suspension rod 52 are fitted on the upper and lower sides of the driving plate 6. The setting of the limit baffle 521 can further position the height position of the driving plate 6 to ensure that the two driving plates 6 are always in a misaligned state and will not collide with each other.

[0027] In order to vacuum adsorb the goods, the present application also has an annular plate 7 fixedly installed on the lower surface of the driving turntable 54, and a driving slot 71 is provided through the surface of the annular plate 7, and a driving pin 8 is provided through the inner cavity of the driving slot 71. Figure 8 As shown, the annular plate 7 rotates synchronously with the driving turntable 54, the driving pin 8 can slide in the inner cavity of the driving slide groove 71, a piston rod 81 is fixedly arranged in the middle of the driving pin 8, a negative pressure cylinder 83 is sleeved on the outer side of the piston rod 81, and the negative pressure cylinder 83 is connected to the inner cavity of the suction cup 51, and a sealing piston 82 is fixedly connected to the lower end of the piston rod 81, and the sealing piston 82 is slidably installed in the inner cavity of the negative pressure cylinder 83 and adapted thereto, combined with Fig. 9 and Figure 8 As shown, when the annular plate 7 rotates, the inner wall of the driving groove 71 and the driving pin 8 are squeezed against each other, driving the driving pin 8 to move up and down in the vertical direction. When the driving pin 8 moves up, the piston rod 81 and the sealing piston 82 move up in the inner cavity of the negative pressure cylinder 83. Since the opening end of the suction cup 51 is attached to the surface of the goods, the sealing piston 82 can draw the inner cavity of the suction cup 51 into a negative pressure when it moves up, thereby realizing the vacuum adsorption (negative pressure adsorption) of the suction cup 51 on the upper surface of the goods; In combination with the above, it can be seen that the adsorption of the goods by the suction cup 51 of the device and the side clamping and grasping of the goods by the clamping claws 32 (or the arc-shaped clamping plate 44) are all controlled by the driving component. That is to say, when the driving motor 53 of the device is working, the adsorption of the upper surface of the goods and the clamping of the sides can be achieved simultaneously. Therefore, regardless of whether the surface of the goods is smooth or not, the device can grasp them, thereby having a wider range of applications.

[0028] In order to limit the movement of the transmission pin 8, the driving slide groove 71 of the present application is set to a spiral structure. Therefore, when the annular plate 7 rotates, the driving slide groove 71 can drive the transmission pin 8 to move up and down through the extrusion of the inner wall and the transmission pin 8. A guide groove 522 is opened on the surface of the suspension rod 52, and one end of the transmission pin 8 is movably inserted into the inner cavity of the guide groove 522. Fig. 9 As shown, the other end of the transmission pin 8 is limited by the guide groove 522, and the middle part of the transmission pin 8 is limited by the piston rod 81, so the transmission pin 8 can only slide up and down in the vertical direction. A connecting wing plate 523 is fixedly provided at the upper end of the suspension rod 52, and the connecting wing plate 523 is fixedly connected to the lower surface of the drone body 1 by bolts, so as to realize the suspension and fixation of the suspended baffle 5.

[0029] In order to facilitate the clamping claw 32 to clamp the surface of the cargo, the clamping claw 32 of the present application is in a "T" shape, the clamping sleeve 31 is fixed at the intersection of the clamping claw 32, the intersection of the clamping claw 32 is staggered from the midpoint of one side thereof, both sides of the clamping claw 32 are fixedly provided with an arc-shaped clamping plate 33, and the inner wall of the arc-shaped clamping plate 33 is bonded and fixed with a flexible pad 34. The structure of the clamping claw 32 is as follows Figure 4 As shown, the flexible pad 34 is provided to increase the friction between the side of the cargo and protect the surface of the cargo. Fig.11As shown, the solid-line frame surface is a long strip of goods along the X-axis direction, and the dotted-line frame surface is a long strip of goods along the Y-axis direction. Since the widths of the two goods are different, setting the clamp 32 into an asymmetric structure can better fit the side of the goods. In addition, the setting of the arc-shaped clamping plate 33 can also adapt to goods with curved surfaces, thereby further increasing the scope of application of the device.

[0030] In order to connect the support frame 4 with the clamping rod 3, the support frame 4 of the present application is composed of two movable plates 41 rotatably connected to each other, and a support shaft 42 is provided at the rotation connection, such as Figure 5 As shown, the support frame 4 can be folded or unfolded with the relative movement between the two clamping rods 3. The support frame 4 is in an "I" shape after being unfolded to the maximum angle. However, in actual use, in order to avoid the support frame 4 from being stuck, the maximum unfolding angle of the support frame 4 is usually close to the "I" shape. A shaft sleeve 43 is sleeved on the outer side of the support shaft 42, and the arc-shaped clamping plate 44 is fixedly connected to the shaft sleeve 43. The arc-shaped clamping plate 44 is installed on the outer side of the support shaft 42 through the shaft sleeve 43, so that its position can be changed with the folding and unfolding of the support frame 4. A hollow sleeve is fixedly provided at the end of the movable plate 41, and the hollow sleeve is movably sleeved on the outer side of the clamping rod 3. Figure 5 and Fig.12 As shown, the hollow sleeve is mainly used to limit the distance that the support frame 4 moves along the length direction of the clamping rod 3 to prevent the support frame 4 from touching the drive plate 6, the linkage plate 63, the sliding pin 24 and other structures.

[0031] The present invention also discloses a grabbing method according to the modular grabbing device suitable for grabbing logistics goods by a drone, which specifically comprises the following steps: Step 1: Move the drone body 1 to the top of the cargo, unfold the folding frame 2 and the support frame 4, change the support frame 4 from an acute angle to an obtuse angle, and then move the drone body 1 downward until the suction cup 51 on the lower surface of the suspended baffle 5 presses on the upper surface of the cargo. If the cargo is small and does not touch the arc-shaped clamping plate 44, the arc-shaped clamping plate 44 can be moved down to the side of the cargo (see Fig.10 ), if the cargo is large, the support frame 4 first contacts the upper surface of the cargo and stops moving downward during the downward movement of the drone body 1, but the clamping rod 3 can continue to move downward, so only the clamping claw 32 can move downward to the side of the cargo (see Fig.12 ); Step 2: Fold the folding frame 2 and drive the supporting frame 4 to fold accordingly. If the cargo is large, the clamping claw 32 at the lower end of the clamping rod 3 is clamped on the surface of the cargo. If the cargo is small, the arc-shaped clamping plate 44 on the supporting frame 4 clamps the cargo tightly. Step 3: While the goods are being clamped and held, the suction cup 51 uses its own negative pressure to vacuum absorb the goods and assist in grasping.

[0032] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular grabbing device suitable for grabbing logistics goods by a drone, comprising a drone body (1), characterized in that: An "X"-shaped folding frame (2) is horizontally mounted below the drone body (1); clamping rods (3) are fixedly mounted at the four ends of the folding frame (2); a clamping sleeve (31) is rotatably mounted on the outer side of the lower end of the clamping rod (3); and a clamping claw (32) is fixedly mounted on the outer side of the clamping sleeve (31); A support frame (4), the support frame (4) is in a "V" shape, two support frames (4) are provided and are symmetrically distributed on both sides below the folding frame (2), the two ends of the two support frames (4) are movably sleeved on the outside of the four clamping rods (3), and an arc-shaped clamping plate (44) is provided at the rotation center of the support frame (4); A suspended baffle (5), the suspended baffle (5) being fixedly mounted below the drone body (1), a suction cup (51) being arranged on the lower surface of the suspended baffle (5), and a driving component being arranged above the suspended baffle (5), the driving component driving the folding frame (2) to fold and simultaneously drawing a vacuum on the inner cavity of the suction cup (51).

2. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 1, characterized in that: The folding frame (2) comprises two mutually intersecting strip plates (21), and a central shaft (22) is rotatably mounted at the intersection, wherein the upper end of the central shaft (22) is fixedly connected to the drone body (1).

3. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 2, characterized in that: The driving assembly comprises a driving motor (53) fixedly mounted on the upper surface of the suspended baffle (5); a driving turntable (54) is fixedly mounted on the output end of the driving motor (53); two driving pins (55) are fixedly arranged at the edge of the upper surface of the driving turntable (54) and are symmetrically distributed in the center; a driving plate (6) driven to move by the driving pin (55) is arranged outside the driving pin (55); one end of the driving plate (6) is fixedly connected to a linkage plate (63); and two ends of the linkage plate (63) are respectively slidably connected to one end of two strip plates (21).

4. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 3, characterized in that: The lower surfaces of both ends of the strip plate (21) are provided with limit sliding grooves (23), and the inner cavity of the limit sliding groove (23) is slidably mounted with a sliding pin (24) adapted thereto, and the two ends of the linkage plate (63) are rotatably connected to the two sliding pins (24) respectively.

5. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 4, characterized in that: A slot plate (61) is fixedly provided at the other end of the driving plate (6), the driving pin shaft (55) movably penetrates the inner cavity of the slot plate (61) and is slidably connected thereto, a suspension rod (52) is fixedly provided on the upper surface of the suspended baffle plate (5), an avoidance slide groove (62) is penetrated through the surface of the driving plate (6), and the suspension rod (52) is movably penetrated and connected to the avoidance slide groove (62), and a limit baffle (521) fixedly connected to the suspension rod (52) is fitted on both upper and lower sides of the driving plate (6).

6. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 5, characterized in that: An annular plate (7) is fixedly mounted on the lower surface of the driving turntable (54); a driving groove (71) is penetrated through the surface of the annular plate (7); a transmission pin (8) is penetrated through the inner cavity of the driving groove (71); a piston rod (81) is fixedly mounted in the middle of the transmission pin (8); a negative pressure cylinder (83) is sleeved on the outer side of the piston rod (81); the negative pressure cylinder (83) is communicated with the inner cavity of the suction cup (51); a sealing piston (82) is fixedly connected to the lower end of the piston rod (81); the sealing piston (82) is slidably mounted in the inner cavity of the negative pressure cylinder (83) and is adapted thereto.

7. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 6, characterized in that: The driving slide groove (71) is arranged in a spiral structure, a guide groove (522) is provided on the surface of the suspension rod (52), and one end of the transmission pin (8) is movably inserted into the inner cavity of the guide groove (522), and a connecting wing plate (523) is fixedly arranged on the upper end of the suspension rod (52), and the connecting wing plate (523) is fixedly connected to the lower surface of the drone body (1) by bolts.

8. The modular grabbing device for grabbing logistics goods by a drone according to claim 1, characterized in that: The clamping jaw (32) is in a "T" shape, the clamping sleeve (31) is fixed at the intersection of the clamping jaw (32), the intersection of the clamping jaw (32) is offset from the midpoint of one side thereof, arc-shaped clamping plates (33) are fixedly provided on both sides of the clamping jaw (32), and a flexible pad (34) is bonded and fixed to the inner wall of the arc-shaped clamping plate (33).

9. The modular grabbing device suitable for grabbing logistics goods by a drone according to claim 1, characterized in that: The support frame (4) is composed of two movable plates (41) rotatably connected to each other, and a support shaft (42) is provided at the rotatable connection. A shaft sleeve (43) is sleeved on the outer side of the support shaft (42), and an arc-shaped clamping plate (44) is fixedly connected to the shaft sleeve (43). A hollow sleeve is fixedly provided at the end of the movable plate (41), and the hollow sleeve is movably sleeved on the outer side of the clamping rod (3).

10. A grabbing method of a modular grabbing device suitable for grabbing logistics goods by a drone according to any one of claims 1 to 9, characterized in that: The specific steps include: Step 1: Move the drone body (1) to a position above the cargo, unfold the folding frame (2) and the support frame (4), change the angle of the support frame (4) from an acute angle to an obtuse angle, and then move the drone body (1) downward until the suction cup (51) on the lower surface of the suspended baffle (5) is pressed against the upper surface of the cargo; Step 2: Fold the folding frame (2) and drive the supporting frame (4) to fold accordingly. If the cargo is large in size, the clamping claw (32) at the lower end of the clamping rod (3) is first clamped on the surface of the cargo. If the cargo is small in size, the arc-shaped clamping plate (44) on the supporting frame (4) clamps the cargo tightly. Step 3: While the goods are being clamped and held, the suction cup (51) uses its own negative pressure to vacuum absorb the goods and assist in grasping.

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