Unmanned aerial vehicle gripping device

Abstract

The embodiment of the application provides a kind of unmanned plane grabbing device, it is related to unmanned plane technical field.A kind of unmanned plane grabbing device, including unmanned plane, the periphery of the unmanned plane is provided with the helix wing using driving motor control, and the top of unmanned plane is embedded with wireless transceiver, the front side of the unmanned plane is embedded with camera module;The bottom of the unmanned plane is fixedly connected with fixed frame, and the periphery of the inner cavity of fixed frame is respectively provided with adjusting assembly and grabbing assembly for article grabbing, and adjusting assembly includes servo motor embedded between unmanned plane and fixed frame;The periphery of the inner cavity of the fixed frame is additionally respectively provided with landing assembly and auxiliary assembly for the stable landing of unmanned plane, and landing assembly includes the support setting in the periphery of the bottom of fixed frame.Based on the premise of stable landing, the firm grabbing of different size articles is carried out using four-axis linkage mode, so as to avoid the influence of external factors, leading to article grabbing not firm and falling and breaking and injuring accident.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, and in particular relates to a UAV grasping device. Background Technology

[0002] With the rapid development of drone technology, the use of drones to grab objects from the ground is gradually increasing. In order to achieve the grabbing operation, drones will be equipped with mechanical components. In order to flexibly complete the grabbing and assembly operations, visual servo control needs to be added to the operational flying robot system to ensure the smooth completion of autonomous object grabbing tasks.

[0003] In existing technology (patent application CN221214570U, entitled "A UAV Grabbing Device"), a motor drives a bidirectional threaded rod to rotate, causing two sets of sliders to move towards or away from each other. This, in turn, moves the electric telescopic rod and clamping plates, adjusting the distance between the two clamping plates to prevent the object from being unable to be grasped due to its length or width. In implementing this technical solution, at least the following problems were found in the existing technology:

[0004] When a drone, equipped with mechanical components, is used to pick up items from the ground, the weight of the items varies. During the drone's cruise flight while towing the items, factors such as the items' own weight, airflow, and rain can cause the items to fall and the pick-up to fail, resulting in the items being destroyed or even causing accidental injuries. Summary of the Invention

[0005] This application aims to address at least one of the technical problems existing in the prior art: the inability to securely grasp objects of different sizes using a four-axis linkage method under the premise of stable landing; and the resulting loss of grip due to external factors, leading to objects falling and breaking, or even causing injury. To this end, this application proposes a drone-based grasping device.

[0006] To achieve the above objectives, the specific technical solution of the present invention is as follows:

[0007] A drone-grabbing device includes a drone, wherein the drone is equipped with rotors controlled by drive motors on all four sides, 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 frame, and the inner cavity of the frame is provided with adjustment components and gripping components for gripping objects. The adjustment components include a servo motor embedded between the drone and the frame.

[0009] The inner cavity of the fixing frame is additionally provided with a landing assembly and an auxiliary assembly for stabilizing landing of the unmanned aerial vehicle, and the landing assembly comprises struts arranged around the bottom of the fixing frame.

[0010] Preferably, the adjusting assembly further comprises 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 with a driving bevel gear, the outer side of the driving bevel gear is provided with a driven bevel gear, the outer side of the driven bevel gear is fixedly connected with a threaded short rod in rotation cooperation with the fixing frame, and the threaded short rod is threadedly connected with a threaded sleeve.

[0011] Preferably, the grabbing assembly comprises a connecting frame fixed at the bottom of the threaded sleeve, and the side of the connecting frame away from the fixing frame is fixedly connected with a sliding cylinder, the inner cavity of the sliding cylinder is slidingly connected with a T-shaped sliding rod, the outer side of the T-shaped sliding rod is fixedly connected with a pressing spring in fixed cooperation with the sliding cylinder, and the inner side of the T-shaped sliding rod is fixedly connected with a pressing seat for grabbing articles.

[0012] Preferably, the landing assembly further comprises an angle motor arranged at the bottom of the strut, and the output shaft of the angle motor is fixedly connected with a supporting arm, the side of the supporting arm away from the angle motor is embedded with a sliding sleeve, and the inner cavity of the sliding sleeve is slidingly connected with a light rod, and the strut and the light rod are distributed in an axisymmetric staggered state along the longitudinal axis of the fixing frame.

[0013] Preferably, the auxiliary assembly comprises a main supporting leg fixed at the bottom of the light rod, and the two sides of the main supporting leg are fixedly connected with auxiliary supporting legs through arc-shaped frames, the top of the light rod is fixedly connected with a supporting seat, the lower surface of the light rod is sleeved with a buffer spring in fixed cooperation with the main supporting leg, and the upper surface of the light rod is sleeved with a damping spring in fixed cooperation with the supporting seat.

[0014] Preferably, the bottom of the fixing frame is provided with horizontal grooves around, and the two sides of the connecting frame close to the threaded sleeve are provided with sliding openings in sliding cooperation with the horizontal grooves.

[0015] Preferably, the inner side of the pressing seat is fixedly connected with anti-skid heads made of rubber material and distributed in an array along the transverse axis of the pressing seat.

[0016] Preferably, the outer side of the strut is provided with a vertical groove, and the vertical groove is slidingly connected with a sliding frame in fixed cooperation with the fixing frame.

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

[0018] Preferably, the bottom of the main supporting leg and the auxiliary supporting leg is provided with anti-skid patterns.

[0019] The unmanned aerial vehicle grabbing device has the following advantages:

[0020] 1. This drone grasping device first uses a servo motor to provide a unified drive source. After the first electric push rod adjusts the meshing stroke between the drive bevel gear and four sets of driven bevel gears, four threaded short rods drive four sets of threaded sleeves to move synchronously. At the same time, the four sets of threaded sleeves drive the four T-shaped slide rods on the sliding cylinders of the four connecting frames to firmly grasp the object from all four sides. The elastic limit of the four T-shaped slide rods and the clamping springs cooperate to use a four-axis linkage to firmly grasp objects of different sizes through the four sets of clamping seats. This avoids the object falling and injuring people due to external factors during cruise flight after being grasped, prevents the object from being damaged and increasing costs, improves the safety of the object grasping flight, and saves time and effort.

[0021] 2. In this drone grasping device, angle motors on four pillars drive four outward-angled arms to rotate. After the four arms are extended and adjusted to their proper positions, they provide support for the drone's landing. Under the impact force, the four rods are forced to slide up and down within four sets of sliding sleeves. At the same time, four sets of main and auxiliary legs expand the drone's landing area, providing stable support. Four damping springs, buffer springs, and support seats provide elastic buffering for the four sliding rods, offsetting the impact force on the drone during landing and elastically absorbing the impact force generated during landing. This ensures that the drone maintains a stable posture during the grasping and release of items, preventing it from tipping over.

[0022] 3. This drone grasping device first adjusts the meshing stroke between the gear disk and four sets of spur gears using four second electric push rods. Then, a servo motor drives four threaded rods to rotate synchronously through the meshed gear disk and four sets of spur gears. The four threaded rods drive four support pillars and an angle motor to move downwards and then upwards through threaded grooves, providing stable support around the bottom of the object during the grasping flight. This serves as a bottom support to prevent the object from falling and damaging itself or injuring people due to external factors during the grasping flight, further improving the stability of the object during grasping. Through the coordinated operation of the landing component, auxiliary component, and bottom support component, it not only meets the requirements for a smooth landing of the drone but also ensures the stability of the object after grasping, achieving two goals at once. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 A UAV grabbing device structure initial state diagram according to the present application;

[0025] Figure 2 A UAV grabbing device structure grabbing state diagram according to the present application;

[0026] Figure 3 A UAV grabbing device structure bottom supporting state diagram according to the present application;

[0027] Figure 4 A UAV grabbing device structure partial sectional view according to the present application;

[0028] Figure 5 A UAV grabbing device structure initial state internal view according to the present application;

[0029] Figure 6 A UAV grabbing device structure bottom supporting state internal view according to the present application;

[0030] Figure 7 A regulating assembly and grabbing assembly structure initial state front sectional view according to the present application;

[0031] Figure 8 A regulating assembly and grabbing assembly structure grabbing state bottom-up sectional view according to the present application;

[0032] Figure 9 A regulating assembly and grabbing assembly structure grabbing state partial top-down view according to the present application;

[0033] Figure 10 A grabbing assembly structure partial side sectional view according to the present application;

[0034] Figure 11 A servo motor, landing assembly, auxiliary assembly and bottom supporting assembly structure initial state front view according to the present application;

[0035] Figure 12 A landing assembly and auxiliary assembly structure partial top-down view according to the present application;

[0036] Figure 13 A auxiliary assembly structure partial bottom-up view according to the present application;

[0037] Figure 14 A servo motor, landing assembly, auxiliary assembly and bottom supporting assembly structure bottom supporting state front view according to the present application;

[0038] Figure 15 A servo motor and bottom supporting assembly structure bottom supporting state top-down view according to the present application;

[0039] Figure 16 A landing assembly, auxiliary assembly and bottom supporting assembly structure partial side view according to the present application;

[0040] Figure 17 This is a bottom view of the drone and mounting structure of the present invention.

[0041] Explanation of markings in the diagram: 1. Drone; 2. Propeller; 3. Wireless transceiver; 4. Camera module; 5. Mounting bracket; 61. Servo motor; 62. First electric push rod; 63. Drive bevel gear; 64. Driven bevel gear; 65. Threaded short rod; 66. Threaded sleeve; 71. Connecting frame; 72. Slide cylinder; 73. T-shaped slide rod; 74. Clamping spring; 75. Clamping seat; 81. Support column; 82. Angle motor; 83. 84. Support arm; 85. Sliding sleeve; 96. Smooth rod; 97. Main support leg; 98. Secondary support leg; 99. Damping spring; 90. Buffer spring; 91. Support seat; 102. Gear disk; 103. Circular gear; 104. Second electric push rod; 105. Threaded long rod; 106. Threaded groove; 11. Horizontal groove; 12. Sliding mouth; 13. Anti-slip head; 14. Vertical groove; 15. Carriage; 16. Anti-slip texture; 17. Balance sensor. Detailed Implementation

[0042] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments:

[0043] like Figures 1-17 As shown, a drone grasping device of the present invention includes a drone 1, with rotors 2 controlled by drive motors on all four sides of the drone 1, and a wireless transceiver 3 embedded on the top of the drone 1 for remote control by ground personnel. A camera module 4 is embedded on the front side of the drone 1 for image tracking and positioning of objects and for daily patrol flight work.

[0044] The bottom of the drone 1 is fixedly connected to a mounting frame 5, and the inner cavity of the mounting frame 5 is equipped with adjustment components and gripping components for gripping objects. The adjustment components include a servo motor 61 embedded between the drone 1 and the mounting frame 5. The drone uses a four-axis linkage to firmly grip objects of different sizes, preventing them from falling and injuring people due to external factors during cruise flight after being gripped. This also prevents the objects from being damaged and increasing costs, improves the safety of gripping objects during flight, and saves time and effort.

[0045] The other four sides of the inner cavity of the fixed frame 5 are respectively provided with landing components and auxiliary components for the stable landing of the drone 1. The landing components include pillars 81 set around the bottom of the fixed frame 5 to offset the impact force on the drone 1 during landing and to elastically absorb the impact force generated during landing, so that the drone 1 maintains a stable attitude during the grabbing and releasing of items, so as to avoid tipping over.

[0046] like Figures 7-14As shown, the adjusting assembly further comprises 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 with a driving bevel gear 63, and the outer side of the driving bevel gear 63 is provided with four driven bevel gears 64, which are uniformly driven by the servo motor 61, and the engagement stroke between the driving bevel gear 63 and the four driven bevel gears 64 is adjusted by the first electric push rod 62, and the outer side of the driven bevel gear 64 is fixedly connected with a threaded short rod 65 rotatingly matched with the fixed frame 5, and the threaded short rod 65 is threadedly connected with a threaded sleeve 66, and the four threaded sleeves 66 are driven by the four threaded short rods 65 to move synchronously;

[0047] The grabbing assembly comprises a connecting frame 71 fixed at the bottom of the threaded sleeve 66, and the side of the connecting frame 71 away from the fixed frame 5 is fixedly connected with a sliding cylinder 72, the inner cavity of the sliding cylinder 72 is slidingly connected with a T-shaped slide rod 73, the outer side of the T-shaped slide rod 73 is fixedly connected with a pressing spring 74 fixedly matched with the sliding cylinder 72, the inner side of the T-shaped slide rod 73 is fixedly connected with a pressing seat 75 for grabbing articles, and the four pressing seats 75 on the four T-shaped slide rods 73 are driven by the four sliding cylinders 72 on the four connecting frames 71 to stably grab the four sides of the articles, and the elastic limiting cooperation of the four T-shaped slide rods 73 and the pressing springs 74 is adopted to stably grab articles of different sizes through the four pressing seats 75 in a four-axis linkage manner;

[0048] The bottom of the fixed frame 5 is provided with a horizontal groove 11 around, and the two sides of the connecting frame 71 close to the threaded sleeve 66 are provided with sliding openings 12 slidingly matched with the horizontal groove 11, which slidingly limits the threaded sleeve 66 and the connecting frame 71, improves the overall displacement stability of the threaded sleeve 66 and the connecting frame 71, and the inner side of the pressing seat 75 is fixedly connected with an anti-skid head 13 made of rubber material and arranged in an array along the horizontal axis of the pressing seat 75, which plays a role in preventing the sliding of the grabbing surface of the article, and also provides flexible contact between the pressing seat 75 and the article to prevent the pressing seat 75 from grabbing too tightly and damaging the surface of the article.

[0049] The landing assembly further comprises 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 with a support arm 83, which is driven by the four angle motors 82 on the four support columns 81 to rotate outward at an angle, and after the four support arms 83 are adjusted to the right position, support force is provided for the landing of the unmanned aerial vehicle 1, and the side of the support arm 83 away from the angle motor 82 is embedded with a sliding sleeve 84, and the inner cavity of the sliding sleeve 84 is slidingly connected with a polished rod 85, and the support column 81 and the polished rod 85 are arranged in an axisymmetric staggered state along the longitudinal axis of the fixed frame 5, and under the action of the impact force generated when the unmanned aerial vehicle 1 lands on the ground, the four polished rods 85 are forced to slide up and down in the four sliding sleeves 84;

[0050] The auxiliary components include a main support leg 91 fixed to the bottom of the light pole 85, and auxiliary support legs 92 fixedly connected to both sides of the main support leg 91 via arc-shaped frames. The four sets of main support legs 91 and auxiliary support legs 92 expand the landing area of ​​the drone 1 and play a role in stabilizing support. A support seat 95 is fixedly connected to the top of the light pole 85, and a buffer spring 94 fixedly engaged with the main support leg 91 is sleeved on the lower surface of the light pole 85. A damping spring 93 fixedly engaged with the support seat 95 is sleeved on the upper surface of the light pole 85. The four damping springs 93, buffer springs 94 and support seats 95 provide elastic buffering for the four light poles 85 that slide up and down, offsetting the impact force received by the drone 1 during landing and elastically absorbing the impact force generated during landing, so that the drone 1 maintains a stable posture during the grabbing and releasing of items, so as to avoid tipping over.

[0051] A vertical groove 14 is provided on the outer side of the support column 81, and a slide 15 that is fixedly connected to the vertical groove 14 and fixedly engaged with the fixed frame 5 is slidably connected to it, which plays a role in sliding support for the support column 81 and facilitates the stable lifting and lowering of the support column 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 slide sleeve 84. It performs balance detection on the landing force of the support arm 83 to ensure that the drone 1 grasps the object in a balanced and stable posture, so as to prevent the drone 1 from tilting and overturning during the grasping of the object. The bottom of the main support leg 91 and the secondary support leg 92 are provided with anti-slip texture 16 to increase the friction coefficient between the main support leg 91 and the secondary support leg 92 and the landing position, so as to prevent the main support leg 91 and the secondary support leg 92 from slipping off, and further improve the landing stability of the drone 1.

[0052] like Figures 14-16 As shown, during the object grabbing flight process, if affected by external forces, the object is easily dropped and destroyed, and further support cannot be provided for the object in the grabbing flight state, reducing the object's gripping stability. The landing component is equipped with a support component used in conjunction with the auxiliary component, and the support component includes a gear disk 101 fixed on the output shaft of the servo motor 61. Circular gears 102 are provided around the outer perimeter of the gear disk 101, and the bottom of each circular gear 102 is fixedly connected to a second electric push rod 103 that rotates with the mounting frame 5. The four second electric push rods 103 first support the gear disk 101 and the four... The meshing stroke between the spur gears 102 is adjusted. The bottom of the second electric push rod 103 is fixedly connected to a threaded rod 104, and the inner cavity of the support column 81 is provided with a threaded groove 105 that is threadedly engaged with the threaded rod 104. The gear disk 101 on the servo motor 61 drives the four threaded rods 104 to rotate synchronously through the four sets of spur gears 102 after they are meshed. The four threaded rods 104 drive the four support columns 81 to move down and then up through the threaded groove 105, which supports the object in the grasping flight state and further improves the stability and safety of the object grasping flight process.

[0053] The working principle of the unmanned aerial vehicle grabbing device is as follows: first, the wireless transceiver 3 controls the camera module 4 on the unmanned aerial vehicle 1 to take a picture of the landing position of the current object to be grabbed, and then four groups of driving motors control four groups of propellers 2 to drive the unmanned aerial vehicle 1 to hover above the object, and then the unmanned aerial vehicle 1 slowly lands, during which, four angle motors 82 are controlled in advance to drive the main supporting legs 91 and auxiliary supporting legs 92 on the four supporting arms 83 to rotate outward at an angle, thereby expanding the landing force surface; after the four main supporting legs 91 and auxiliary supporting legs 92 contact the landing point, the four abutting seats 75 below the unmanned aerial vehicle 1 are located outside the object grabbing surface, and at the same time, under the influence of the reverse impact force of the ground, the four main supporting legs 91 and auxiliary supporting legs 92 drive the four light rods 85 to slide up and down in the sliding sleeve 84, the four buffer springs 94 below first absorb the impact force of the four main supporting legs 91 and auxiliary supporting legs 92, and the four damping springs 93 above dampen the up-and-down sliding light rods 85, so that the unmanned aerial vehicle 1 quickly stabilizes, and the four balance sensors 17 detect the landing balance state of the unmanned aerial vehicle 1 in real time to ensure that the unmanned aerial vehicle 1 lands stably,

[0054] Then, the first electric push rod 62 is controlled to be turned on and drive the driving bevel gear 63 to move upward and be clamped to the meshing part of the four driven bevel gears 64, and then the servo motor 61 is controlled to be turned on and drive the four driven bevel gears 64 through the meshing driving bevel gear 63 to rotate synchronously, the four threaded short rods 65 drive the four threaded sleeves 66 to move inward synchronously, and under the sliding limiting cooperation of the four cross grooves 11 and sliding openings 12 on the four threaded sleeves 66 and connecting frames 71, the four threaded sleeves 66 drive the four T-shaped sliding rods 73 through the sliding cylinders 72 on the four connecting frames 71 to move synchronously toward the object grabbing surface, and after the anti-skid heads 13 on the four abutting seats 75 contact the object grabbing surface in a flexible and anti-skid manner, the four abutting seats 75 drive the four T-shaped sliding rods 73 to slide outward synchronously in the four sliding cylinders 72 under the reverse force of the object, at this time, the four abutting springs 74 provide elastic limiting force to the four T-shaped sliding rods 73 to offset the reverse force of the object, so that the four abutting seats 75 firmly clamp and grab objects of different sizes, after the object is firmly grabbed, the servo motor 61 is controlled to be paused, and then the first electric push rod 62 is controlled to be turned off and drive the driving bevel gear 63 to move downward and be disengaged from the meshing part of the four driven bevel gears 64 to the initial position, at this time, the four abutting seats 75 still firmly clamp and grab the object, and the four driving motors control the four propellers 2 to drive the unmanned aerial vehicle 1 to cruise to the destination with the grabbed object;

[0055] Then, the four second electric push rod 103 is controlled to open synchronously and drive the four groups of gear wheels 102 to move up and be clamped to the meshing part of the gear disc 101, and then the servo motor 61 is controlled to open again and drive the four groups of gear wheels 102 to rotate forward synchronously through the gear disc 101 clamped in place, the four groups of gear wheels 102 drive the four threaded rods 104 to rotate forward synchronously, the four threaded rods 104 drive the four supports 81 to move down synchronously through the threaded grooves 105, the four supports 81 drive the whole to move down through the four angle motors 82, until the four supporting seats 95 move down to the bottom of the object to be grabbed. At this time, the four angle motors 82 are controlled to drive the main supporting legs 91 and the auxiliary supporting legs 92 on the four light rods 85 and the supporting seats 95 to rotate inward to the bottom of the object, and then the four threaded rods 104 are controlled to drive the four supports 81 to move up synchronously through the threaded grooves 105, drive the supporting seats 95 on the four light rods 85 to reach the bottom of the object, and then the four supports 81 continue to move up, forcing the four groups of supporting seats 95 to drive the four light rods 85 to slide downward in the sliding sleeve 84. At this time, the four groups of main supporting legs 91 and auxiliary supporting legs 92 move down and successively drive the four damping springs 93 to be squeezed, and the four buffer springs 94 to be stretched, providing elastic force to the four groups of supporting seats 95 at the bottom of the object. After the four supports 81 move up to the position, the four groups of supporting seats 95 rotate inward and stabilize the bottom of the object, then the servo motor 61 is controlled to close, and then the four second electric push rod 103 is controlled to close and drive the four groups of gear wheels 102 to move down and disengage from the meshing part of the gear disc 101 to the initial position. During the flight of the object to the destination landing under the double measures of grabbing and supporting the bottom, the four supports 81 move down, and the four groups of supporting seats 95 reset outward and disengage from the bottom of the object, canceling the supporting measure of the bottom of the object and preparing for landing at the destination. The four groups of main supporting legs 91 and auxiliary supporting legs 92 absorb the impact force generated by the landing of the unmanned aerial vehicle 1, and then the four groups of supporting seats 95 move outward to disengage from the object grabbing surface, and the unmanned aerial vehicle 1 takes off, then the object is moved to the destination.

[0056] It should be noted that the specific model specifications of the servo motor 61, the electric push rod, the angle motor 82 and the drive motor need to be determined according to the actual specifications of the device. The specific selection calculation method adopts the existing technology in the art, and therefore will not be described in detail.

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

[0058] It is to be understood that the present application is described by way of example only, and that modifications or alterations can be made to the features and embodiments described without departing from the spirit and scope of the application. In addition, modifications can be made to the features and embodiments described to accommodate specific situations and materials without departing from the spirit and scope of the application. Accordingly, the application is not limited to the specific embodiments disclosed herein, but rather, the scope of the application includes all embodiments falling within the scope of the claims.

Claims

1. An unmanned aerial vehicle gripping device comprising an unmanned aerial vehicle (1), characterized in that: The unmanned plane (1) is provided with a propeller (2) controlled by a driving motor on each side, and a wireless transceiver (3) is embedded on the top of the unmanned plane (1), and a camera module (4) is embedded on the front side of the unmanned plane (1); The bottom of the unmanned plane (1) is fixedly connected with a fixing frame (5), and the inner cavity of the fixing frame (5) is provided with an adjusting assembly and a grabbing assembly for grabbing objects on each side, and the adjusting assembly comprises a servo motor (61) embedded between the unmanned plane (1) and the fixing frame (5); The inner cavity of the fixing frame (5) is additionally provided with a landing assembly and an auxiliary assembly for stabilizing the landing of the unmanned plane (1) on each side, and the landing assembly comprises a support column (81) arranged on the bottom of the fixing frame (5), and the landing assembly further comprises an angle motor (82) arranged on the bottom of the support column (81), and the output shaft of the angle motor (82) is fixedly connected with an arm (83), and the side away from the angle motor (82) of the arm (83) is embedded with a sliding sleeve (84), and the inner cavity of the sliding sleeve (84) is slidably connected with a polished rod (85), and the support column (81) and the polished rod (85) are distributed in an axisymmetric staggered state along the longitudinal axis of the fixing frame (5), and the bottom supporting assembly comprises a gear disc (101) fixed on the output shaft of the servo motor (61), and the outer side of the gear disc (101) is provided with a circular gear (102) on each side, and the bottom of the circular gear (102) is fixedly connected with a second electric push rod (103) rotatably connected with the fixing frame (5), and the bottom of the second electric push rod (103) is fixedly connected with a threaded long rod (104), and the inner cavity of the support column (81) is provided with a threaded groove (105) threadedly connected with the threaded long rod (104), and the auxiliary assembly comprises a main foot (91) fixed on the bottom of the polished rod (85), and the two sides of the main foot (91) are fixedly connected with a vice foot (92) through an arc-shaped frame, and the top of the polished rod (85) is fixedly connected with a supporting seat (95), and the lower surface of the polished rod (85) is sleeved with a buffer spring (94) fixedly connected with the main foot (91), and the upper surface of the polished rod (85) is sleeved with a damping spring (93) fixedly connected with the supporting seat (95).

2. The unmanned aerial vehicle gripping device of claim 1, wherein: The adjusting assembly further comprises 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 with a driving bevel gear (63), and the outer side of the driving bevel gear (63) is provided with a driven bevel gear (64) on each side, and the outer side of the driven bevel gear (64) is fixedly connected with a threaded short rod (65) rotatably connected with the fixing frame (5), and the threaded short rod (65) is threadedly connected with a threaded sleeve (66).

3. The unmanned aerial vehicle gripping device of claim 2, wherein: The grabbing assembly comprises a connecting frame (71) fixed at the bottom of the threaded sleeve (66), and the connecting frame (71) is fixedly connected with a sliding cylinder (72) away from one side of the fixing frame (5), the inner cavity of the sliding cylinder (72) is slidingly connected with a T-shaped sliding rod (73), the outer side of the T-shaped sliding rod (73) is fixedly connected with a clamping spring (74) fixedly matched with the sliding cylinder (72), and the inner side of the T-shaped sliding rod (73) is fixedly connected with a clamping seat (75) for grabbing articles.

4. The unmanned aerial vehicle gripping device of claim 3, wherein: The bottom of the fixing frame (5) is provided with horizontal grooves (11) around, and the two sides of the connecting frame (71) close to the threaded sleeve (66) are provided with sliding openings (12) slidingly matched with the horizontal grooves (11).

5. The unmanned aerial vehicle gripping device of claim 4, wherein: The inner side of the clamping seat (75) is fixedly connected with anti-skid heads (13) made of rubber material and arranged in an array along the horizontal axis of the clamping seat (75).

6. The unmanned aerial vehicle gripping device of claim 5, wherein: The outer side of the support column (81) is provided with a vertical groove (14), and the vertical groove (14) is slidingly connected with a sliding frame (15) fixedly matched with the fixing frame (5).

7. The unmanned aerial vehicle gripping device of claim 6, wherein: The top of the support arm (83) is fixedly connected with a balance sensor (17) between the angle motor (82) and the sliding sleeve (84).

8. The unmanned aerial vehicle gripping device of claim 7, wherein: The bottom of the main supporting leg (91) and the auxiliary supporting leg (92) is provided with anti-skid lines (16).

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