A modular grasping device and method applicable to the grasping of logistics goods by drones

Abstract

The present invention relates to the technical field of unmanned aerial vehicles, and specifically to a modular grasping device and method suitable for unmanned aerial vehicles to grasp logistics goods. A folding frame in an "X" shape is horizontally installed below the unmanned aerial vehicle body, and a clamping jaw is fixedly installed on the outer side of the clamping sleeve; the support frame is in a "V" shape, and an arc-shaped clamping plate is arranged at the rotation center of the support frame; a suction cup is arranged on the lower surface of the suspended baffle, and a driving component is arranged above the suspended baffle. The driving component drives the folding frame to fold and simultaneously evacuates the inner cavity of the suction cup; the beneficial effects are as follows: by providing a folding frame in an "X" shape, a clamping jaw is installed at the lower end of the clamping rod, and there are a total of two arc-shaped clamping plates that can grasp small-sized goods from both sides. For goods with a rough surface, they are directly clamped and grasped by using friction. For goods with a smooth surface, vacuum adsorption by the suction cup is used for auxiliary grasping, so as to adapt to different types of goods and increase the applicable range of the device.

Description

Technical Field

[0001] The present invention relates to the technical field of drones, and specifically to a modular grasping device and method applicable to drones for grasping logistics goods. Background Art

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

[0003] In the prior art, a Chinese invention with the publication number CN112109901A discloses a drone grasping mechanism. With the cooperation of a driving component and a grasping component, the drone can realize the functions of grasping and placing objects.

[0004] However, at present, affected by factors such as the volume, weight, shape difference, and surface smoothness of logistics goods, the adaptability of drone grasping devices is relatively low. After grasping the goods, the grasping stability is also difficult to guarantee, thus affecting the normal distribution of logistics goods. Therefore, the present invention proposes a modular grasping device and method applicable to drones for grasping logistics goods to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a modular grasping device and method applicable to drones for grasping logistics goods, so as to solve the problem of low grasping adaptability of drone grasping devices for different types of goods proposed in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A modular grasping device applicable to drones for grasping logistics goods, including a drone body. A folding frame in an "X" shape is horizontally installed below the drone body. Clamping rods are fixedly installed at the 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 jaw is fixedly installed on the outer side of the clamping sleeve.

[0007] A support frame in a "V" shape, with two support frames respectively symmetrically distributed on both sides below the folding frame. The two ends of the two support frames are respectively movably sleeved on the outer sides of the four clamping rods, and an arc - shaped clamping plate is arranged at the rotation center of the support frame.

[0008] A suspended baffle is fixedly installed below the drone body. A suction cup is arranged on the lower surface of the suspended baffle. A driving component is arranged above the suspended baffle, and the driving component drives the folding frame to fold and simultaneously evacuates the inner cavity of the suction cup.

[0009] Preferably, the folding frame includes two intersecting strip plates, and a central shaft is rotatably installed at the intersection, and the upper end of the central shaft is fixedly connected to the UAV body.

[0010] Preferably, the driving assembly includes a driving motor fixedly installed on the upper surface of the suspended baffle, a driving turntable is fixedly installed at the output end of the driving motor, two driving pins symmetrically distributed about 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 pins is arranged outside the driving pins, one end of the driving plate is fixedly connected to a linkage plate, and both ends of the linkage plate are respectively slidably connected to one end of the two strip plates.

[0011] Preferably, limiting sliding grooves are respectively opened on the lower surfaces of both ends of the strip plate, sliding pins adapted to the limiting sliding grooves are slidably installed in the inner cavities of the limiting sliding grooves, and both ends of the linkage plate are respectively rotatably connected to the two sliding pins.

[0012] Preferably, a groove plate is fixedly arranged at the other end of the driving plate, the driving pin movably penetrates through the inner cavity of the groove plate and is slidably connected thereto, a suspension rod is fixed on the upper surface of the suspended baffle, an avoidance sliding groove is formed through the surface of the driving plate, and the suspension rod movably penetrates through the avoidance sliding groove, and limiting baffles fixedly connected to the suspension rod are respectively arranged on both the upper and lower sides of the driving plate.

[0013] Preferably, an annular plate is fixedly installed on the lower surface of the driving turntable, a driving sliding groove is formed through the surface of the annular plate, a transmission pin penetrates through the inner cavity of the driving sliding groove, a piston rod is fixedly arranged in the middle of the transmission pin, a negative pressure cylinder is sleeved outside the piston rod, and the negative pressure cylinder is communicated with the inner cavity of the suction cup, and a sealing piston is fixedly connected to the lower end of the piston rod, and the sealing piston is slidably installed in the inner cavity of the negative pressure cylinder and is adapted thereto.

[0014] Preferably, the driving sliding groove is arranged in a spiral structure, a guiding groove is formed on the surface of the suspension rod, one end of the transmission pin is movably inserted into the inner cavity of the guiding groove, a connecting wing plate is fixedly arranged at the upper end of the suspension rod, and the connecting wing plate is fixedly connected to the lower surface of the UAV body through bolts.

[0015] Preferably, the clamping jaw is in a "T" shape, the clamping sleeve is fixed at the intersection of the clamping jaws, the intersection of the clamping jaws is offset from the midpoint position of one of its sides, arc-shaped clamping plates are respectively fixedly arranged on both sides of the clamping jaws, and a flexible pad is adhesively fixed to the inner wall of the arc-shaped clamping plate.

[0016] Preferably, the support frame is composed of two movable plates rotatably connected to each other, a support shaft is arranged at the rotation connection, a shaft sleeve is sleeved outside the support shaft, and the arc-shaped clamping plate is fixedly connected to the shaft sleeve, and a hollow sleeve is fixedly arranged at the end of the movable plate, and the hollow sleeve is movably sleeved outside the clamping rod.

[0017] A grasping method for the modular grasping device applicable to UAVs for grasping logistics goods as described above, specifically including the following steps:

[0018] Step 1: Move the UAV body above the goods, unfold the folding frame and the support frame, change the support frame from an acute angle to an obtuse angle, and then move the UAV body downward until the suction cup on the lower surface of the suspended baffle presses on the upper surface of the goods.

[0019] Step 2: Fold the folding frame and drive the support frame to fold accordingly. If the volume of the goods is large, the claws at the lower end of the clamping rod first catch on the surface of the goods. If the volume of the goods is small, the arc-shaped clamping plates on the support frame clamp and hold the goods.

[0020] Step 3: While the goods are being clamped and held, the suction cup uses its own negative pressure to perform vacuum adsorption on the goods and assist in grasping.

[0021] Compared with the prior art, the beneficial effects of the present invention are:

[0022] The present invention is provided with a folding frame in the shape of an "X", clamping rods are fixed at the four ends of the folding frame, and claws are installed at the lower ends of the clamping rods. By folding or unfolding the folding frame, long strip-shaped goods with different widths can be grasped. A support frame in the shape of a "V" is arranged between the two clamping rods, and an arc-shaped clamping plate is arranged at the rotation center of the support frame. There are a total of two arc-shaped clamping plates that can grasp 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, it can drive the folding frame to rotate and simultaneously evacuate the inner cavity of the suction cup, so as to perform vacuum adsorption on the upper surface of the goods and assist in grasping through the suction cup. For goods with a rough surface, the device directly clamps and grasps them using friction. For goods with a smooth surface, the device uses vacuum adsorption of the suction cup for auxiliary grasping, thereby adapting to different types of goods and increasing the applicable range of the device. Description of the Drawings

[0023] Figure 1 It is a three-dimensional schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is an exploded schematic diagram of the structure of the suspended baffle and the folding frame of the present invention;

[0025] Figure 3 It is a three-dimensional schematic diagram of the structure of the folding frame of the present invention;

[0026] Figure 4 It is a three-dimensional schematic diagram of the structure of the claw of the present invention;

[0027] Figure 5 It is a three-dimensional schematic diagram of the structure of the support frame of the present invention;

[0028] Figure 6 It is a three-dimensional schematic diagram of the driving turntable structure of the present invention;

[0029] Figure 7 It is a schematic connection diagram of the strip board and the driving board structures of the present invention;

[0030] Figure 8 It is a three-dimensional schematic diagram of the annular plate structure of the present invention;

[0031] Figure 9 It is a schematic installation diagram of the transmission pin structure of the present invention;

[0032] Figure 10 It is a schematic diagram of the grasping of goods with a smooth surface by the present invention;

[0033] Figure 11 It is a schematic diagram of the grasping of long strip-shaped goods by the present invention;

[0034] Figure 12 It is a schematic diagram of the grasping of another long strip-shaped goods by the present invention.

[0035] In the figure: 1, the UAV body; 2, the folding frame; 21, the strip board; 22, the central axis; 23, the limiting sliding groove; 24, the sliding pin; 3, the clamping rod; 31, the clamping sleeve; 32, the clamping jaw; 33, the arc-shaped clamping plate; 34, the flexible pad; 4, the support frame; 41, the movable plate; 42, the support shaft; 43, the shaft sleeve; 44, the arc-shaped clamping plate; 5, the suspended baffle; 51, the suction cup; 52, the suspension rod; 521, the limiting baffle; 522, the guiding groove; 523, the connecting wing plate; 53, the driving motor; 54, the driving turntable; 55, the driving pin shaft; 6, the driving board; 61, the groove board; 62, the avoidance sliding groove; 63, the linkage plate; 7, the annular plate; 71, the driving sliding groove; 8, the transmission pin; 81, the piston rod; 82, the sealing piston; 83, the negative pressure cylinder. Detailed implementation manners

[0036] In order to clearly and completely describe the purpose, technical solution of the present invention, and make the advantages more clearly understood, the following further details the embodiments of the present invention with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are some embodiments of the present invention, rather than all embodiments, and are only used to explain the embodiments of the present invention, not to limit the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0037] Please refer to Figures 1 to 12 , the present invention provides a technical solution:

[0038] Embodiment 1, a modular grasping device suitable for a UAV to grasp logistics goods, including the UAV body 1, the support frame 4, and the suspended baffle 5.

[0039] Specifically, a folding frame 2 in an "X" shape is horizontally installed below the UAV body 1. The folding frame 2 can fold or unfold itself. 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, and a clamping jaw 32 is fixedly installed on the outer side of the clamping sleeve 31. As Figure 11 and Figure 12 shown Figure 12 The goods in Figure 11 are represented by the dotted line in

[0040] During the folding or unfolding process of the folding frame 2, the clamping jaw 32 can clamp and grab large-size or long-strip goods from the side; Figure 1 and Figure 5 Secondly, the support frame 4 is in a "V" shape. There are two support frames 4, which are symmetrically distributed on both sides below the folding frame 2 respectively. The two ends of the two support frames 4 are respectively movably sleeved on the outer sides of the four clamping rods 3. Combining Figure 11 and Figure 12 shown, when the folding frame 2 folds, the support frame 4 folds accordingly. When it unfolds, the support frame 4 unfolds accordingly and changes from an acute angle state to an obtuse angle state until it unfolds 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. Combining Figure 11 and Figure 12 it can be known that:

[0041] ① When the folding frame 2 folds, the clamping jaw 32 is mainly used to clamp and grab strip-shaped goods with a smaller width dimension in the Y-axis and a larger length dimension in the X-axis;

[0042] ② When the folding frame 2 unfolds, the clamping jaw 32 is mainly used to clamp and grab goods with larger dimensions in both the X-axis and Y-axis;

[0043] And in the above two cases, the goods will block the downward movement of the support frame 4. That is to say, when the UAV body 1 moves downward, the support frame 4 first rests on the upper surface of the goods, but the clamping jaw 32 can continue to move downward. Then, by folding or unfolding the folding frame 2, the goods can be clamped and grabbed by means of the clamping jaw 32.

[0044] Furthermore, an arc-shaped clamping plate 44 is arranged at the rotation center of the support frame 4. As Figure 10 and Figure 1 shown, when the overall size of the goods is small, during the downward movement of the UAV body 1, the arc-shaped clamping plate 44 will not be blocked by the goods. The arc-shaped clamping plate 44 can move down to the side of the goods. 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 goods from both sides;

[0045] As described above, when in use, this device can adapt to the external dimensions of the goods, grip and grab goods of different shapes and sizes, thus having a larger scope of application;

[0046] In addition, the suspended baffle 5 is fixedly installed below the UAV body 1. A suction cup 51 is arranged on the lower surface of the suspended baffle 5, and a driving assembly is arranged above the suspended baffle 5. The driving assembly drives the folding frame 2 to fold and simultaneously evacuates the inner cavity of the suction cup 51. As Figure 10 and Figure 12 shown, whether this device grips and grabs large-sized, small-sized, or long-strip-shaped goods, the suction cup 51 can fit onto the upper surface of the goods from top to bottom and assist in adsorbing the goods by means of negative pressure, thereby improving the stability after grabbing the goods:

[0047] ① If the surface of the goods is rough, although it is difficult for the suction cup 51 to adsorb the goods, a strong frictional force can be generated between the clamping jaw 32 (or the arc-shaped clamping plate 44) and the goods, thus ensuring the stable gripping of the goods;

[0048] ② If the surface of the goods is smooth, although the frictional force between the clamping jaw 32 (or the arc-shaped clamping plate 44) and the goods is small, the suction cup 51 can perform vacuum adsorption on the goods, which can also ensure the stable gripping of the goods;

[0049] This device simultaneously drives the folding frame 2 to fold (or unfold) and the suction cup 51 to perform vacuum adsorption through the driving assembly. When facing goods with different shapes, sizes, and surface materials (i.e., surface smoothness), it can adaptively grip and has a more flexible and efficient gripping solution;

[0050] In addition, according to actual usage requirements, this device can also install induction 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 goods and the suspended baffle 5 through the cooperation of the relevant induction elements and the controller, and control the start and stop of the operation of the driving assembly.

[0051] In order to connect the folding frame 2 with the UAV body 1, the folding frame 2 of this application includes two intersecting strip-shaped plates 21, and a central shaft 22 is rotatably installed at the intersection. The upper end of the central shaft 22 is fixedly connected to the UAV body 1. As Figure 2 and Figure 3 shown, the vertical relative position between the folding frame 2 and the UAV body 1 remains fixed, and both strip-shaped plates 21 can rotate around the central shaft 22.

[0052] To drive the folding frame 2 to fold or unfold, the driving component of the present application includes a driving motor 53 fixedly installed on the upper surface of the suspended baffle 5. A driving turntable 54 is fixedly installed at the output end of the driving motor 53. When the driving motor 53 operates, it can drive the driving turntable 54 to rotate. The driving motor 53 is a forward and reverse motor known in the prior art and can drive the driving turntable 54 to rotate forward or backward. Two driving pins 55 are fixedly arranged at the edge of the upper surface of the driving turntable 54 and are symmetrically distributed about the center. A driving plate 6 driven to move by the driving pins 55 is arranged outside the driving pins 55. One end of the driving plate 6 is fixedly connected with a linkage plate 63. The two ends of the linkage plate 63 are respectively slidably connected with one end of two strip plates 21, as Figure 6 and Figure 7 shown:

[0053] ① When the driving turntable 54 rotates forward, the two driving plates 6 move closer to each other. Through the connection of the linkage plate 63, the folding frame 2 can rotate and unfold. In addition, to prevent the two driving plates 6 from colliding with each other, the two driving plates 6 of the present device are staggered in the height direction;

[0054] ② Conversely, when the driving turntable 54 rotates in the reverse direction, the two driving plates 6 move away from each other, and the folding frame 2 can rotate and fold.

[0055] To drive the folding frame 2 to fold or unfold by the driving plate 6, the present application also has limit sliding grooves 23 opened on the lower surfaces of both ends of the strip plate 21. A sliding pin 24 adapted to it is slidably installed in the inner cavity of the limit sliding groove 23. The sliding pin 24 is integrally in the shape of a "worker". The upper end of the sliding pin 24 can only slide in the inner cavity of the limit sliding groove 23. The two ends of the linkage plate 63 are respectively rotatably connected with the lower ends of the two sliding pins 24, as Figure 7 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 prevent the two driving plates 6 from colliding with each other, the length dimensions of the sliding pins 24 on the two linkage plates 63 of the present device are different, as Figure 7 shown. The sliding pin 24 on the left linkage plate 63 is shorter, and the left linkage plate 63 is flush with the lower surface of the strip plate 21. The sliding pin 24 on the right linkage plate 63 is longer, and there is a gap between the right linkage plate 63 and the lower surface of the strip plate 21.

[0056] To limit and position the driving plate 6, the present application also has a groove plate 61 fixedly arranged at the other end of the driving plate 6. The driving pin 55 movably penetrates the inner cavity of the groove plate 61 and is slidably connected with it, as Figure 6As shown, the driving pin shaft 55 can slide within the inner cavity of the groove plate 61. When the position of the driving pin shaft 55 changes backward as the driving turntable 54 rotates, the driving pin shaft 55 can drive the driving plate 6 to move accordingly by squeezing the inner wall of the groove plate 61, and the two driving plates 6 move synchronously and in opposite directions. A suspension rod 52 is fixed on the upper surface of the suspended baffle 5. An avoidance sliding groove 62 is formed through the surface of the driving plate 6, and the suspension rod 52 is movably connected through the avoidance sliding groove 62. The setting of the avoidance sliding groove 62 is used to prevent collision with the suspension rod 52. The cooperation between the suspension rod 52 and the avoidance sliding groove 62 can limit the movement track of the driving plate 6. It should be noted that in order to prevent the driving plate 6 from rotating around the suspension rod 52 in the middle, a notch groove needs to be formed on the surface of the suspension rod 52 and the inner wall of the notch groove fits with the inner wall of the avoidance sliding groove 62, or a square sleeve is fixedly arranged on the surface of the suspension rod 52 and the surface of the square sleeve fits with the inner wall of the avoidance sliding groove 62. In addition, limiting baffle plates 521 fixedly connected to the suspension rod 52 are respectively arranged on the upper and lower sides of the driving plate 6. The setting of the limiting baffle plates 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 do not collide with each other.

[0057] In order to perform vacuum adsorption on the goods, the present application also has an annular plate 7 fixedly installed on the lower surface of the driving turntable 54. A driving sliding groove 71 is formed through the surface of the annular plate 7, and a transmission pin 8 is arranged through the inner cavity of the driving sliding groove 71. As Figure 8 shown, the annular plate 7 rotates synchronously with the driving turntable 54, and the transmission pin 8 can slide within the inner cavity of the driving sliding groove 71. A piston rod 81 is fixedly arranged in the middle of the transmission pin 8. A negative pressure cylinder 83 is sleeved outside the piston rod 81, and the negative pressure cylinder 83 is communicated with the inner cavity of the suction cup 51. The lower end of the piston rod 81 is fixedly connected with a sealing piston 82. The sealing piston 82 is slidably installed within the inner cavity of the negative pressure cylinder 83 and is adapted to it. Combining Figure 9 and Figure 8 shown, when the annular plate 7 rotates, the inner wall of the driving sliding groove 71 squeezes against the transmission pin 8 to drive the transmission pin 8 to move up and down in the vertical direction. When the transmission pin 8 moves upward, the piston rod 81 and the sealing piston 82 move upward within the inner cavity of the negative pressure cylinder 83. Since the open end of the suction cup 51 is attached to the surface of the goods, when the sealing piston 82 moves upward, it can pump the inner cavity of the suction cup 51 into a negative pressure, thereby realizing the vacuum adsorption (negative pressure adsorption) of the upper surface of the goods by the suction cup 51.

[0058] As can be seen from the above, the adsorption of the goods by the suction cup 51 of the present device and the lateral clamping and grasping of the goods by the clamping jaw 32 (or the arc-shaped clamping plate 44) are both controlled by the driving assembly. That is to say, when the driving motor 53 of the present device works, the adsorption on the upper surface of the goods and the clamping on the side can be achieved simultaneously. Therefore, regardless of whether the surface of the goods is smooth, the present device can grasp it, thus having a larger applicable range.

[0059] In order to limit the movement of the transmission pin 8, the driving chute 71 of the present application is arranged in a spiral structure. Therefore, when the annular plate 7 rotates, the driving chute 71 can drive the transmission pin 8 to move up and down through the extrusion between the inner wall and the transmission pin 8. A guiding groove 522 is formed 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 guiding groove 522. As Figure 9 shown, the other end of the transmission pin 8 is limited by the guiding groove 522, and the middle part of the transmission pin 8 is limited by the piston rod 81. Therefore, the transmission pin 8 can only slide up and down in the vertical direction. A connecting wing plate 523 is fixedly arranged at the upper end of the suspension rod 52, and the connecting wing plate 523 is fixedly connected to the lower surface of the UAV body 1 through bolts, so as to realize the suspension and fixation of the suspended baffle 5.

[0060] In order to facilitate the clamping jaw 32 to clamp the surface of the goods, the clamping jaw 32 of the present application 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 position of one of its sides. Arc-shaped clamping plates 33 are fixedly arranged on both sides of the clamping jaw 32, and a flexible pad 34 is adhesively fixed to the inner wall of the arc-shaped clamping plate 33. The structure of the clamping jaw 32 is as Figure 4 shown. The setting of the flexible pad 34 is used to increase the friction with the side surface of the goods and at the same time protect the surface of the goods. As Figure 11 shown, for the long strip-shaped goods on the solid line frame surface along the X-axis direction and the long strip-shaped goods on the dotted line frame surface along the Y-axis direction, since the width dimensions of the two kinds of goods are different, setting the clamping jaw 32 into an asymmetric structure can better fit the side surface of the goods. In addition, the setting of the arc-shaped clamping plate 33 can also adapt to the goods with a curved surface on the surface, thus further increasing the applicable range of the present device.

[0061] In order to connect the support frame 4 and the clamping rod 3, the support frame 4 of the present application is composed of two movable plates 41 that are rotatably connected to each other, and a support shaft 42 is arranged at the rotation connection. As Figure 5As shown, the support frame 4 can be folded or unfolded with the relative movement between the two clamping rods 3. After the support frame 4 is unfolded to the maximum angle, it is in a "one" shape. However, in actual use, to avoid jamming of the support frame 4, the maximum unfolding angle of the support frame 4 is usually close to the "one" shape. A bushing 43 is sleeved outside the support shaft 42, and the arc-shaped clamping plate 44 is fixedly connected to the bushing 43. The arc-shaped clamping plate 44 is installed outside the support shaft 42 through the bushing 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 outside the clamping rod 3. Combining Figure 5 and Figure 12 As shown, the setting of the hollow sleeve is mainly used to limit the upward movement distance of the support frame 4 along the length direction of the clamping rod 3, so as to avoid the support frame 4 touching structures such as the driving plate 6, the linkage plate 63, and the sliding pin 24.

[0062] The present invention also discloses a grasping method for the modular grasping device applicable to unmanned aerial vehicle (UAV) to grasp logistics goods according to the above, which specifically includes the following steps:

[0063] Step 1: Move the UAV body 1 above the goods, unfold the folding frame 2 and the support frame 4, so that the support frame 4 changes from an acute angle to an obtuse angle, and then move the UAV body 1 downward until the suction cup 51 on the lower surface of the suspended baffle 5 presses on the upper surface of the goods. If the size of the goods is small and does not touch the arc-shaped clamping plate 44, the arc-shaped clamping plate 44 can move down to the side of the goods (for reference, see Figure 10 ), if the size of the goods is large, then during the downward movement of the UAV body 1, the support frame 4 first touches the upper surface of the goods and stops moving downward, but the clamping rod 3 can continue to move downward. Therefore, only the clamping jaw 32 can move down to the side of the goods (for reference, see Figure 12 );

[0064] Step 2: Fold the folding frame 2 and drive the support frame 4 to fold accordingly. If the volume of the goods is large, the clamping jaw 32 at the lower end of the clamping rod 3 is stuck on the surface of the goods. If the volume of the goods is small, the arc-shaped clamping plate 44 on the support frame 4 clamps and holds the goods;

[0065] Step 3: While the goods are being clamped and held, the suction cup 51 uses its own negative pressure to perform vacuum adsorption on the goods to assist in grasping.

[0066] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. 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); 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).

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 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.

4. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 3, 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).

5. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 4, 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.

6. A modular grabbing device suitable for grabbing logistics goods by a drone according to claim 5, 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.

7. The modular grabbing device suitable 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).

8. The modular grabbing device 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).

9. A grabbing method of a modular grabbing device suitable for grabbing logistics goods by a drone according to any one of claims 1 to 8, 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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