Unmanned aerial vehicle grabbing device

Abstract

The embodiment of the invention provides an unmanned aerial vehicle grabbing device, and relates to the technical field of unmanned aerial vehicles. The unmanned aerial vehicle grabbing device comprises an unmanned aerial vehicle, spiral wings controlled by driving motors are arranged on the periphery of the unmanned aerial vehicle, a wireless transceiver is embedded in the top of the unmanned aerial vehicle, and a camera module is embedded in the front side of the unmanned aerial vehicle; the bottom of the unmanned aerial vehicle is fixedly connected with a fixing frame, the periphery of an inner cavity of the fixing frame is provided with an adjusting assembly and a grabbing assembly which are used for grabbing objects, and the adjusting assembly comprises a servo motor embedded between the unmanned aerial vehicle and the fixing frame. Landing assemblies and auxiliary assemblies used for stable landing of the unmanned aerial vehicle are arranged on the other peripheries of the inner cavity of the fixing frame correspondingly, and each landing assembly comprises supporting columns arranged on the periphery of the bottom of the fixing frame. On the premise of stable landing, articles of different sizes are firmly grabbed in a four-axis linkage mode, and the situation that due to the influence of external factors, the articles are not firmly grabbed, and the accidents of falling, breaking and hurting people are caused is avoided.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a grasping device for an unmanned aerial vehicle. Background Art

[0002] With the increasing development of drone technology, the way of using drones to grab objects from the ground is gradually increasing. In order to realize the grabbing operation, drones will be equipped with mechanical components on the drone platform. In order to be able to flexibly complete the grabbing and assembly operations, it is necessary to add visual servo control to the operational flying robot system to ensure the smooth completion of autonomous object grabbing tasks.

[0003] In the prior art (the patent application with announcement number CN221214570U and patent name is a drone grabbing device), a motor drives a bidirectional threaded rod to rotate, so that two sets of sliders move toward or away from each other, driving the electric telescopic rod and the clamping plate to move accordingly, and adjusting the distance between the two sets of clamping plates to prevent the object from being affected by the length or width and unable to grab the object. In the process of implementing this technical solution, it is found that there are at least the following problems in the prior art:

[0004] When a drone uses mechanical components to grab objects from the ground, due to the different weights of the objects, the drone may be dragging the objects in a cruising flight. The objects may be affected by the gravity of the objects, air currents, rain and other factors, resulting in a loose grasp of the objects. The objects may fall and the grasping may fail, directly causing the objects to be damaged or even accidental injuries. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems that the prior art cannot firmly grasp objects of different sizes using a four-axis linkage method based on a stable landing, and is affected by external factors, resulting in the objects falling and being damaged, or even injuring people. To this end, the present application proposes a drone grasping device.

[0006] To achieve the above purpose, the specific technical solutions of the present invention are as follows:

[0007] A drone grabbing device comprises a drone, wherein the drone is provided with spiral wings controlled by a driving motor all around, a wireless transceiver is embedded on the top of the drone, and a camera module is embedded on the front side of the drone;

[0008] The bottom of the drone is fixedly connected to a fixing frame, and the inner cavity of the fixing frame is respectively provided with an adjustment component and a grabbing component for grabbing items, and the adjustment component includes a servo motor embedded between the drone and the fixing frame;

[0009] The other four sides of the inner cavity of the fixing frame are respectively provided with landing components and auxiliary components for stable landing of the UAV, and the landing components include pillars arranged around the bottom of the fixing frame.

[0010] Preferably: the adjustment component also includes a first electric push rod embedded in the output shaft of the servo motor, and the piston rod of the first electric push rod is fixedly connected to a driving bevel gear, and driven bevel gears are arranged around the outer side of the driving bevel gear, and the outer side of the driven bevel gear is fixedly connected to a threaded short rod that rotates with the fixed frame, and a threaded sleeve is threadedly connected to the threaded short rod.

[0011] Preferably: the grabbing assembly includes a connecting frame fixed to the bottom of the threaded sleeve, and a sliding cylinder is fixedly connected to the side of the connecting frame away from the fixed frame, the inner cavity of the sliding cylinder is slidably connected to a T-shaped sliding rod, and the outer side of the T-shaped sliding rod is fixedly connected to a clamping spring fixedly matched with the sliding cylinder, and the inner side of the T-shaped sliding rod is fixedly connected to a clamping seat for grabbing objects.

[0012] Preferably: the landing assembly also includes an angle motor arranged at the bottom of the pillar, and the output shaft of the angle motor is fixedly connected to a support arm, a sliding sleeve is embedded in the side of the support arm away from the angle motor, and the inner cavity of the sliding sleeve is slidably connected to a light rod, and the pillar and the light rod are distributed in an axially symmetrical staggered state with the abutment seat along the longitudinal axis of the fixed frame.

[0013] Preferably: the auxiliary component includes a main support foot fixed to the bottom of the light rod, and both sides of the main support foot are fixedly connected with auxiliary support feet through an arc frame, the top of the light rod is fixedly connected with a supporting seat, and the lower surface of the light rod is provided with a buffer spring fixedly matched with the main support foot, and the upper surface of the light rod is provided with a damping spring fixedly matched with the supporting seat.

[0014] Preferably, transverse grooves are provided around the bottom of the fixing frame, and sliding openings that slidably cooperate with the transverse grooves are provided on both sides of the connecting frame close to the threaded sleeve.

[0015] Preferably, an anti-slip head is fixedly connected to the inner side of the abutment seat, and the anti-slip head is made of rubber material and is distributed in an array along the horizontal axis of the abutment seat.

[0016] Preferably, a vertical groove is formed on the outer side of the pillar, and a sliding bracket fixedly matched with the fixing bracket is slidably connected to the vertical groove.

[0017] Preferably, a balance sensor is fixedly connected to the top of the support arm and is located between the angle motor and the sliding sleeve.

[0018] Preferably, the bottoms of the main supporting legs and the auxiliary supporting legs are provided with anti-slip hemp patterns.

[0019] The drone grabbing device of the present invention has the following advantages:

[0020] 1. The unmanned aerial vehicle grasping device is first provided with a unified driving source by a servo motor, and the first electric push rod adjusts the meshing stroke between the driving bevel gear and the four sets of driven bevel gears, and then the four threaded short rods drive the four sets of threaded sleeves to move synchronously. At the same time, the four sets of threaded sleeves drive the four T-shaped sliding rods on the sliding cylinders on the four connecting frames to firmly grasp the four sides of the objects. At the same time, the elastic limit of the four T-shaped sliding rods and the tightening springs cooperates, and the four-axis linkage method is adopted to firmly grasp objects of different sizes through the four sets of tightening seats, so as to avoid the phenomenon of objects falling and injuring people during the cruising flight after grasping, so as to avoid the objects from falling and causing cost increase, and also improve the safety during the object grasping flight, saving time and effort.

[0021] 2. The drone grabbing device then drives the four arms to rotate at an outward angle by the angle motors on the four pillars. After the four arms are adjusted to the right position, they provide support for the drone's landing. Under the action of the impact force, the four light rods are forced to slide up and down in the four sets of sliding sleeves. At the same time, the four sets of main legs and auxiliary legs expand the landing area of ​​the drone, playing a role of stable support. The four damping springs, buffer springs and supporting seats provide elastic buffering for the four light rods sliding up and down, offsetting the impact force received by the drone during landing, and elastically absorbing the impact force generated by landing, so that the drone maintains a stable posture during grabbing and releasing objects to avoid rollover.

[0022] 3. The UAV grasping device, then, firstly adjusts the meshing stroke between the gear plate and the four groups of circular gears by the four second electric push rods, and then the servo motor drives the four threaded long rods to rotate synchronously through the meshed gear plate and the four groups of circular gears, and the four threaded long rods drive the four pillars and the angle motor to move downward and then upward through the threaded grooves, so as to provide stable support for the bottom of the objects during the grasping flight, and play a bottoming role to prevent the objects during the grasping flight from being affected by external factors, and causing falling, damage and hitting people, thereby further improving the stability of the objects during grasping, and through the linkage cooperation of the landing assembly, the auxiliary assembly and the bottoming assembly, not only the stable landing requirements of the UAV are met, but also the firmness of the objects after grasping is guaranteed, killing two birds with one stone. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 This is a diagram showing the initial state of the structure of a drone grabbing device of the present invention;

[0025] Figure 2 This is a structural grasping state diagram of a grasping device for a drone of the present invention;

[0026] Figure 3 This is a bottom supporting state diagram of a UAV grabbing device structure of the present invention;

[0027] Figure 4 A partial cross-sectional view of the structure of a drone grabbing device of the present invention;

[0028] Figure 5 This is an internal view of the initial state of the structure of a drone grabbing device of the present invention;

[0029] Figure 6 This is an interior view of the bottom supporting state of the structure of a drone grabbing device of the present invention;

[0030] Figure 7 It is a front cross-sectional view of the initial state of the adjustment component and the grabbing component structure of the present invention;

[0031] Figure 8 It is a bottom-view cross-sectional view of the adjusting assembly and the grabbing assembly structure of the present invention in the grabbing state;

[0032] Fig. 9 It is a partial top view of the adjusting assembly and the grabbing assembly structure of the present invention in the grabbing state;

[0033] Fig.10 It is a partial side cross-sectional view of the grabbing assembly structure of the present invention;

[0034] Fig.11 It is a front view of the initial state of the servo motor, landing assembly, auxiliary assembly and bottom supporting assembly structure of the present invention;

[0035] Fig.12 A partial top view of the landing assembly and auxiliary assembly structure of the present invention;

[0036] Fig.13 A partial bottom view of the auxiliary component structure of the present invention;

[0037] Fig.14 It is a front view of the servo motor, landing assembly, auxiliary assembly and bottom supporting assembly structure of the present invention in the bottom supporting state;

[0038] Fig.15 A top view of the servo motor and the bottom supporting assembly structure of the present invention in the bottom supporting state;

[0039] Fig.16 It is a partial side view of the landing assembly, auxiliary assembly and bottom supporting assembly structure of the present invention;

[0040] Fig.17 This is a bottom view of the UAV and the fixing frame structure of the present invention.

[0041] Explanation of the markings in the figure: 1. UAV; 2. Helical wing; 3. Wireless transceiver; 4. Camera module; 5. Fixing frame; 61. Servo motor; 62. First electric push rod; 63. Driving bevel gear; 64. Driven bevel gear; 65. Threaded short rod; 66. Threaded sleeve; 71. Connecting frame; 72. Slide; 73. T-shaped slide; 74. Tightening spring; 75. Tightening seat; 81. Support; 82. Angle motor; 83 , support arm; 84, sliding sleeve; 85, bare rod; 91, main support foot; 92, auxiliary support foot; 93, damping spring; 94, buffer spring; 95, supporting seat; 101, gear plate; 102, circular gear; 103, second electric push rod; 104, threaded long rod; 105, threaded groove; 11, horizontal groove; 12, sliding mouth; 13, anti-slip head; 14, vertical groove; 15, slide; 16, anti-slip hemp pattern; 17, balance sensor. DETAILED DESCRIPTION

[0042] The present invention is specifically described below in conjunction with the accompanying drawings and specific embodiments:

[0043] like Figure 1-Figure 17 As shown, a drone grabbing device of the present invention comprises a drone 1, wherein the drone 1 is provided with spiral wings 2 controlled by a driving motor all around, and a wireless transceiver 3 is embedded on the top of the drone 1 for remote control by ground personnel, and a camera module 4 is embedded on the front side of the drone 1 for image tracking and positioning of objects and daily cruising flight work;

[0044] The bottom of the drone 1 is fixedly connected with a fixing frame 5, and the inner cavity of the fixing frame 5 is respectively provided with an adjustment component and a grabbing component for grabbing items, and the adjustment component includes a servo motor 61 embedded between the drone 1 and the fixing frame 5, and adopts a four-axis linkage method to firmly grab items of different sizes, so as to avoid the items from falling and injuring people during the cruising flight after being grabbed, so as to avoid the items from falling and causing increased costs, and also improve the safety during the flight of grabbing items, saving time and effort;

[0045] The other four sides of the inner cavity of the fixing frame 5 are respectively provided with landing components and auxiliary components for stable landing of the UAV 1, and the landing components include pillars 81 arranged around the bottom of the fixing frame 5 to offset the impact force received by the UAV 1 during the landing process and elastically absorb the impact force generated by the landing, so that the UAV 1 maintains a stable posture during the period of grabbing and releasing objects to avoid rollover.

[0046] like Figure 7-Figure 14As shown, the adjustment component also includes a first electric push rod 62 embedded in the output shaft of the servo motor 61, and the piston rod of the first electric push rod 62 is fixedly connected to a driving bevel gear 63, and driven bevel gears 64 are arranged around the outer side of the driving bevel gear 63. The servo motor 61 provides a unified driving source, and the first electric push rod 62 adjusts the meshing stroke between the driving bevel gear 63 and the four groups of driven bevel gears 64, and the outer side of the driven bevel gear 64 is fixedly connected to a threaded short rod 65 that rotates with the fixed frame 5, and the threaded short rod 65 is threadedly connected to a threaded sleeve 66, and the four threaded short rods 65 drive the four groups of threaded sleeves 66 to move synchronously;

[0047] The grabbing assembly includes a connecting frame 71 fixed to the bottom of the threaded sleeve 66, and a slide cylinder 72 is fixedly connected to the side of the connecting frame 71 away from the fixed frame 5, a T-shaped slide bar 73 is slidably connected to the inner cavity of the slide barrel 72, and a holding spring 74 fixedly connected to the outer side of the T-shaped slide bar 73 is fixedly connected to the slide barrel 72, and a holding seat 75 for grabbing objects is fixedly connected to the inner side of the T-shaped slide bar 73. The four groups of threaded sleeves 66 drive the holding seats 75 on the four T-shaped slide bars 73 through the slide barrels 72 on the four groups of connecting frames to firmly grab the objects on all four sides. At the same time, the elastic limiting cooperation of the four T-shaped slide bars 73 and the holding spring 74 adopts a four-axis linkage method to firmly grab objects of different sizes through the four groups of holding seats 75;

[0048] The fixing frame 5 is provided with transverse grooves 11 on all sides of the bottom thereof, and the connecting frame 71 is provided with sliding openings 12 on both sides thereof close to the threaded sleeve 66, which slidably cooperate with the transverse grooves 11, so as to limit the sliding of the threaded sleeve 66 and the connecting frame 71, thereby improving the overall displacement stability of the threaded sleeve 66 and the connecting frame 71, and an anti-slip head 13 is fixedly connected to the inner side of the abutting seat 75, and the anti-slip head 13 is made of rubber material and is distributed in an array along the horizontal axis of the abutting seat 75, which not only prevents the gripping surface of the object from slipping, but also provides flexible contact between the abutting seat 75 and the object, so as to prevent the abutting seat 75 from gripping too tightly and causing damage to the surface of the object.

[0049] The landing assembly also includes an angle motor 82 arranged at the bottom of the pillar 81, and the output shaft of the angle motor 82 is fixedly connected to the support arm 83. The angle motor 82 on the four pillars 81 drives the four support arms 83 to rotate at an outer angle. After the four support arms 83 are adjusted to be in place, they provide support for the landing of the UAV 1. A sliding sleeve 84 is embedded on the side of the support arm 83 away from the angle motor 82, and a light rod 85 is slidably connected to the inner cavity of the sliding sleeve 84. The pillar 81 and the light rod 85 are distributed in an axisymmetric staggered state with the abutment seat 75 along the longitudinal axis of the fixing frame 5. Under the impact force generated when the UAV 1 lands on the ground, the four light rods 85 are forced to slide up and down in the four sets of sliding sleeves 84;

[0050] The auxiliary component includes a main support foot 91 fixed to the bottom of the light rod 85, and both sides of the main support foot 91 are fixedly connected to auxiliary support feet 92 through arc frames. The four groups of main support feet 91 and auxiliary support feet 92 expand the landing area of ​​the UAV 1 and play a role of stable support. The top of the light rod 85 is fixedly connected to a supporting seat 95, and the lower surface of the light rod 85 is sleeved with a buffer spring 94 fixedly matched with the main support foot 91, and the upper surface of the light rod 85 is sleeved with a damping spring 93 fixedly matched with the supporting seat 95. The four damping springs 93, the buffer spring 94 and the supporting seat 95 play an elastic buffering role for the four light rods 85 sliding up and down, offsetting the impact force received by the UAV 1 during the landing process, and elastically absorbing the impact force generated by the landing, so that the UAV 1 maintains a stable posture during the period of grabbing and releasing objects to avoid rollover;

[0051] A vertical groove 14 is provided on the outer side of the pillar 81, and a slide 15 fixedly matched with the fixing frame 5 is slidably connected to the vertical groove 14, which plays a role of sliding support for the pillar 81, which is beneficial to the stable lifting and lowering action of the pillar 81. A balance sensor 17 is fixedly connected to the top of the support arm 83 and is located between the angle motor 82 and the sliding sleeve 84. The landing force of the support arm 83 is balanced and detected to ensure that the drone 1 grabs the object in a balanced and stable posture to prevent the drone 1 from tilting and tipping over during the grabbing of the object. The bottom of the main support leg 91 and the auxiliary support leg 92 are provided with anti-slip hemp grooves 16 to increase the friction coefficient between the main support leg 91 and the auxiliary support leg 92 and the landing position to prevent the main support leg 91 and the auxiliary support leg 92 from slipping, thereby further improving the landing stability of the drone 1.

[0052] like Figure 14-16 As shown in the figure, during the object grabbing flight process, if it is affected by external factors, it is very easy to cause the object to fall and break, and the object in the grabbing flight state cannot be further supported, which reduces the firmness of the object grabbing. The landing component is provided with a supporting component used in conjunction with the auxiliary component, and the supporting component includes a gear plate 101 fixed on the output shaft of the servo motor 61, and the outer side of the gear plate 101 is surrounded by circular gears 102, and the bottom of the circular gear 102 is fixedly connected to a second electric push rod 103 that is rotatably matched with the fixing frame 5. The four second electric push rods 103 first support the gear plate 101 and the four The meshing stroke between the groups of circular gears 102 is adjusted, a threaded long rod 104 is fixedly connected to the bottom of the second electric push rod 103, and a threaded groove 105 which is threadedly matched with the threaded long rod 104 is opened in the inner cavity of the pillar 81, and the gear plate 101 on the servo motor 61 drives the four threaded long rods 104 to rotate synchronously through the four groups of circular gears 102 that are meshed in place, and the four threaded long rods 104 drive the four pillars 81 to move downward first and then upward through the threaded grooves 105, so as to support the bottom of the objects in the grasping flight state, and further improve the firmness and safety of the objects in the grasping flight process.

[0053] The working principle of a drone grabbing device is as follows: first, the camera module 4 on the drone 1 is controlled by a wireless transceiver 3 from the ground to shoot and locate the landing position of the current object to be grabbed, and then the four sets of driving motors control the four sets of spiral wings 2 to drive the drone 1 to hover just above the object and slowly descend to land. During this period, the four sets of angle motors 82 are controlled in advance to drive the main legs 91 and the auxiliary legs 92 on the four arms 83 to rotate outward at an angle to expand the landing force surface. After the four sets of main legs 91 and the auxiliary legs 92 are in contact with the landing point, the four sets of abutment seats 75 under the drone 1 are located At the same time, under the influence of the reverse impact force of the ground, the four sets of main legs 91 and the auxiliary legs 92 are forced to drive the four light rods 85 to slide up and down in the sliding sleeve 84. At the same time, the four buffer springs 94 located at the bottom first buffer and absorb the impact force received by the four sets of main legs 91 and the auxiliary legs 92, and the four damping springs 93 located at the top damp the light rods 85 sliding up and down, so that the drone 1 quickly maintains stability, and the four balance sensors 17 detect the landing balance state of the drone 1 in real time to ensure that the drone 1 lands stably.

[0054] Next, the first electric push rod 62 is controlled to open and drive the driving bevel gear 63 to move up and get into engagement with the four groups of driven bevel gears 64, and then the servo motor 61 is controlled to open and drive the threaded short rods 65 on the four groups of driven bevel gears 64 to rotate synchronously through the driving bevel gear 63 that is in engagement, and the four threaded short rods 65 drive the four groups of threaded sleeves 66 to move synchronously inward, and under the sliding limit cooperation of the four groups of transverse grooves 11 and the sliding openings 12 on the four groups of threaded sleeves 66 and the connecting frame 71, the four groups of threaded sleeves 66 drive the abutting seats 75 on the four T-shaped sliding rods 73 to move synchronously toward the object grabbing surface through the sliding cylinders 72 on the four groups of connecting frames 71, and after the anti-slip heads 13 on the four groups of abutting seats 75 make non-slip and flexible contact with the grabbing surface of the object, the four groups of threaded sleeves 66 are received. The reverse force of the object forces the four sets of abutting seats 75 to drive the four T-shaped slide bars 73 to slide synchronously outward in the four sets of slide tubes 72. At this time, the four abutting springs 74 exert elastic limiting force on the four T-shaped slide bars 73 to offset the reverse force generated by the object, forcing the four sets of abutting seats 75 to firmly clamp and grasp objects of different sizes. After the object is firmly grasped, the servo motor 61 is first controlled to pause, and then the first electric push rod 62 is controlled to close and drive the driving bevel gear 63 to move downward and disengage from the meshing parts of the four sets of driven bevel gears 64 to the initial position. At this time, the four sets of abutting seats 75 still maintain a firm clamping and grasping state for the object, and the four sets of driving motors control the four sets of spiral wings 2 to drive the grasped objects on the drone 1 to cruise towards the destination.

[0055] Then, the four second electric push rods 103 are controlled to be opened synchronously and drive the four groups of circular gears 102 to move up to the meshing part of the gear plate 101, and then the servo motor 61 is controlled to be opened again and drive the four groups of circular gears 102 to rotate synchronously forward through the meshing gear plate 101, and the four groups of circular gears 102 drive the four threaded long rods 104 to rotate synchronously forward, and the four threaded long rods 104 drive the four pillars 81 to move downward synchronously through the thread grooves 105, and the four pillars 81 are driven to move downward as a whole through the four groups of angle motors 82 until the four groups of circular gears 102 are rotated forward synchronously. The supporting seat 95 moves down until it reaches the bottom of the grasped object. At this time, the four groups of angle motors 82 are controlled to drive the main legs 91 and the auxiliary legs 92 on the four light rods 85 and the supporting seat 95 to rotate inward to the bottom of the object through the four groups of supporting arms 83. Conversely, the four threaded long rods 104 are controlled to drive the four pillars 81 to move up synchronously through the threaded grooves 105, driving the supporting seat 95 on the four light rods 85 to the bottom of the object. As the four pillars 81 continue to move up, the four groups of supporting seats 95 are forced to drive the four light rods 85 to slide downward in the sliding sleeves 84. At this time, the four groups of main legs 91 and auxiliary legs 92 move downward, and successively drive the four damping springs 93 to squeeze, and the four buffer springs 94 to stretch, exerting elastic force on the four groups of supporting seats 95 at the bottom of the object. After the four pillars 81 move up to the right position, the four groups of supporting seats 95 that have moved inward and rotated also stably support the bottom of the object, first control the servo motor 61 to turn off, and then control the four second electric push rods 103 to turn off and drive the four groups of circular gears 102 to move down and disengage from the meshing part of the gear plate 101 to the initial position, and then unmanned During the period when the drone 1 drives the object to fly to the destination under the dual measures of grabbing and supporting, on the contrary, the four pillars 81 are first controlled to move downward, and the four groups of supporting seats 95 are reset outward and separated from the bottom of the object, the bottom supporting measures for the bottom of the object are cancelled, and preparations are made for landing at the destination. Then, the four groups of main legs 91 and auxiliary legs 92 absorb and offset the impact force generated by the landing of the drone 1. After the drone 1 lands smoothly, the four groups of abutting seats 75 are controlled to synchronously extend outward to separate from the grabbing surface of the object, and the drone 1 is controlled to fly up, and the object is transferred to the destination.

[0056] It should be noted that the specific models and specifications of the servo motor 61, electric push rod, angle motor 82 and drive motor need to be selected and determined according to the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be repeated in detail.

[0057] The servo motor 61, the electric push rod, the angle motor 82 and the power supply circuit of the drive motor are clear to those skilled in the art and will not be described in detail here.

[0058] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A drone grabbing device, comprising a drone (1), characterized in that: The drone (1) is provided with spiral wings (2) controlled by a driving motor on all sides, a wireless transceiver (3) is embedded on the top of the drone (1), and a camera module (4) is embedded on the front side of the drone (1); The bottom of the drone (1) is fixedly connected to a fixing frame (5), and an adjustment component and a grabbing component for grabbing items are respectively arranged around the inner cavity of the fixing frame (5), and the adjustment component includes a servo motor (61) embedded between the drone (1) and the fixing frame (5); The other four sides of the inner cavity of the fixing frame (5) are respectively provided with a landing component and an auxiliary component for the stable landing of the drone (1), and the landing component includes pillars (81) arranged around the bottom of the fixing frame (5).

2. The drone grabbing device according to claim 1, characterized in that: The adjustment component also includes a first electric push rod (62) embedded in the output shaft of the servo motor (61), and the piston rod of the first electric push rod (62) is fixedly connected to a driving bevel gear (63), and driven bevel gears (64) are arranged around the outer side of the driving bevel gear (63), and the outer side of the driven bevel gear (64) is fixedly connected to a threaded short rod (65) that is rotatably matched with the fixed frame (5), and a threaded sleeve (66) is threadedly connected to the threaded short rod (65).

3. The drone grabbing device according to claim 2, characterized in that: The grabbing assembly comprises a connecting frame (71) fixed at the bottom of the threaded sleeve (66), and a slide cylinder (72) is fixedly connected to the side of the connecting frame (71) away from the fixed frame (5), the inner cavity of the slide cylinder (72) is slidably connected to a T-shaped slide rod (73), and the outer side of the T-shaped slide rod (73) is fixedly connected to a clamping spring (74) fixedly matched with the slide cylinder (72), and the inner side of the T-shaped slide rod (73) is fixedly connected to a clamping seat (75) for grabbing objects.

4. The drone grabbing device according to claim 3, characterized in that: The landing assembly also includes an angle motor (82) arranged at the bottom of the support column (81), and the output shaft of the angle motor (82) is fixedly connected to a support arm (83), a sliding sleeve (84) is embedded on the side of the support arm (83) away from the angle motor (82), and the inner cavity of the sliding sleeve (84) is slidably connected to a light rod (85), and the support column (81) and the light rod (85) are distributed in an axially symmetrical staggered state with the abutment seat (75) along the longitudinal axis of the fixing frame (5).

5. The drone grabbing device according to claim 4, characterized in that: The auxiliary component comprises a main support foot (91) fixed at the bottom of the light rod (85), and both sides of the main support foot (91) are fixedly connected to auxiliary support feet (92) through arc frames, the top of the light rod (85) is fixedly connected to a supporting seat (95), and the lower surface of the light rod (85) is sleeved with a buffer spring (94) fixedly matched with the main support foot (91), and the upper surface of the light rod (85) is sleeved with a damping spring (93) fixedly matched with the supporting seat (95).

6. The drone grabbing device according to claim 5, characterized in that: The bottom of the fixing frame (5) is provided with transverse grooves (11) on all sides thereof, and the two sides of the connecting frame (71) close to the threaded sleeve (66) are provided with sliding openings (12) that are slidably matched with the transverse grooves (11).

7. The drone grabbing device according to claim 6, characterized in that: The inner side of the abutment seat (75) is fixedly connected with an anti-slip head (13), and the anti-slip head (13) is made of rubber material and is distributed in an array along the horizontal axis of the abutment seat (75).

8. The drone grabbing device according to claim 7, characterized in that: A vertical groove (14) is provided on the outer side of the support (81), and a sliding frame (15) fixedly matched with the fixing frame (5) is slidably connected to the vertical groove (14).

9. The drone grabbing device according to claim 8, characterized in that: A balance sensor (17) is fixedly connected to the top of the support arm (83) and is located between the angle motor (82) and the sliding sleeve (84).

10. The drone grabbing device according to claim 9, characterized in that: The bottoms of the main supporting leg (91) and the auxiliary supporting leg (92) are both provided with anti-slip hemp patterns (16).

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