Self-adaptive three-jaw type grabbing and clamping device for unmanned aerial vehicle mounting

Abstract

The invention discloses a self-adaptive three-jaw type grabbing and clamping device for unmanned aerial vehicle mounting, and belongs to the technical field of unmanned aerial vehicle airborne operation equipment.The self-adaptive three-jaw type grabbing and clamping device comprises a quick-release mounting base and a protective shell arranged below the quick-release mounting base, and four guide holes are formed in the surface of the protective shell at equal intervals; a guide shaft fixedly connected with the quick-release mounting seat is movably connected into the guide hole, a limiting block is fixed to the bottom of the guide shaft, the guide shaft is sleeved with a buffer spring, a servo motor is installed on the top wall of an inner cavity of the protective shell, and a guide screw is fixed to the output end of the servo motor; the outer wall of the guide screw rod is in threaded connection with a guide plate, three clamping mechanisms are arranged at the bottom of the protective shell at equal intervals, and three connecting pieces are arranged in the protective shell at equal intervals. According to the self-adaptive three-jaw type grabbing and clamping device for unmanned aerial vehicle mounting, an object can be stably clamped, meanwhile, the operation error-tolerant rate is high, safety redundancy is sufficient, and using is safer.

Description

Technical Field

[0001] This invention belongs to the technical field of UAV airborne operation equipment, specifically relating to an adaptive three-claw gripper for UAV mounting. Background Technology

[0002] With the rapid development of drone technology, drones are increasingly being used in logistics, material delivery, industrial inspection, and emergency rescue. As a core component for drones to grasp, transport, and deliver materials, the performance of drone-mounted gripping devices directly determines the efficiency and safety of drone operations. Currently, drone-mounted gripping devices on the market still have certain shortcomings: First, most gripping devices use a dual-claw gripping structure, resulting in poor gripping stability and low adaptability to irregularly shaped objects, easily leading to slippage and material loss. Second, gripping devices lack effective buffer and protection structures; slight shaking during drone hovering or impacts when descending and contacting materials can easily damage the device structure or break the material. Summary of the Invention

[0003] The purpose of this invention is to provide an adaptive three-claw gripping device for drone mounting, in order to solve the problems mentioned in the background art, such as poor gripping stability, lack of effective buffer protection structure, and the fact that slight shaking during drone hovering or impact when descending and contacting materials can easily lead to damage to the device structure or material damage.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an adaptive three-claw gripping device for mounting on unmanned aerial vehicles (UAVs), comprising a quick-release mounting base and a protective shell disposed below the quick-release mounting base. The protective shell has four guide holes evenly spaced on its surface, and a guide shaft movably connected to the guide holes and fixedly connected to the quick-release mounting base. A limit block is fixed to the bottom of the guide shaft, and a buffer spring is sleeved on the outside of the guide shaft. A servo motor is installed on the top wall of the inner cavity of the protective shell, and a guide screw is fixed to the output end of the servo motor. A guide plate is threaded onto the outer wall of the guide screw. Three clamping mechanisms are evenly spaced on the bottom of the protective shell, and three connecting parts corresponding to the clamping mechanisms are evenly spaced inside the protective shell.

[0005] In a further embodiment, the clamping mechanism includes a connecting seat and a gripper. The connecting seat is fixed to the bottom of the protective shell, and a connecting block that is fixedly connected to the gripper is rotatably connected to the connecting seat through a rotating shaft.

[0006] In a further embodiment, a mounting groove is provided on one side of the outer wall of the gripper, a pressure sensor is installed in the mounting groove, and an anti-slip pad that is fixedly connected to the gripper is provided on one side of the pressure sensor. The connector is located between the guide plate and the gripper.

[0007] In a further embodiment, the connector consists of a push-pull rod and two connecting seats. The two connecting seats are rotatably connected to both ends of the push-pull rod via a rotating shaft, and the two connecting seats are fixedly connected to the guide plate and the gripper, respectively. The bottom of the protective shell is provided with three equally spaced moving slots for the push-pull rod to move.

[0008] In a further embodiment, the surface of the quick-release mount is equipped with a universal quick-release interface, which is compatible with the gimbal mount interface of mainstream multi-rotor UAVs and the standardized airborne mount interface, and a manual locking wrench is provided on the side of the quick-release mount.

[0009] In a further embodiment, the protective shell has mounting holes on its surface, and a displacement sensor is installed in the mounting holes on the surface of the protective shell. Weight reduction grooves are formed on all four outer walls of the protective shell.

[0010] In a further embodiment, the protective shell has four through holes at equal intervals on its exterior, and an electromagnetic lock stop pin corresponding to the position of the limiting block is installed in the through holes of the protective shell. A locking hole corresponding to the electromagnetic lock stop pin is provided on one side of the outer wall of the limiting block.

[0011] In a further embodiment, two limiting holes are symmetrically opened on the guide plate, and a limiting post that is fixedly connected to the inner wall of the protective shell is movably connected in the limiting holes of the guide plate.

[0012] The technical effects and advantages of this invention are as follows: This adaptive three-claw gripper for drone mounting adopts a three-claw symmetrical gripping structure. With the linkage of rotatable grippers and push-pull rods, it can adapt to various regular and irregular shaped objects such as spheres, cylinders, and squares. It has a large gripping contact area, and combined with the anti-slip pad, it greatly improves the stability of gripping and effectively prevents materials from falling off. Pressure sensors are installed at the grippers and displacement sensors are installed at the protective shell. These sensors can detect changes in clamping pressure and device displacement in real time and transmit the signals to the controller. This enables precise control of the clamping force, preventing both excessive clamping force that could damage the material and insufficient clamping force that could lead to clamping failure. This improves the accuracy and fault tolerance of the operation. The design incorporates a buffer structure with buffer springs and guide shafts, which can effectively counteract the impact force when the drone hovers and shakes or comes into contact with materials, providing double protection for the device body and the clamped materials. At the same time, the combination of electromagnetic lock stop pins and limit blocks achieves multiple locking, which can lock the position of the protective shell during operation, further improving the structural stability of the device and providing sufficient safety redundancy. The quick-release mount is equipped with a universal quick-release interface, compatible with the gimbal mount interface of mainstream multi-rotor drones and the standardized airborne mount interface. It is equipped with a manual locking wrench with a cam locking structure, which can quickly detach and lock the device and the drone without auxiliary tools, greatly improving the device's adaptability and assembly / disassembly efficiency. A servo motor drives a guide screw to move the guide plate linearly. Combined with the limiting post's limiting and guiding effect on the guide plate, the opening and closing of the gripper is more stable and precise. The rotary connection design between the push-pull rod and the connecting seat 2 realizes a smooth conversion from the linear motion of the guide plate to the rotary clamping motion of the gripper. It has high transmission efficiency and rapid clamping response. This adaptive three-jaw gripper device for UAV mounting can stably clamp objects, while having a high fault tolerance rate and sufficient safety redundancy, making it safer to use. Attached Figure Description

[0013] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0014] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 This is a structural schematic diagram of the present invention in the form of a mount without quick-release mounting. Figure 3 This is a schematic diagram of the guide shaft and limiting block of the present invention; Figure 4 This is a schematic diagram of the servo motor and guide plate of the present invention; Figure 5 This is a schematic diagram of the clamping mechanism and connector of the present invention; Figure 6 This is a schematic diagram of the gripper and push-pull rod of the present invention.

[0015] In the diagram: 1. Quick-release mounting bracket; 2. Universal quick-release interface; 3. Manual locking wrench; 4. Protective shell; 5. Guide shaft; 6. Limit block; 7. Buffer spring; 8. Displacement sensor; 9. Electromagnetic lock stop pin; 10. Servo motor; 11. Guide screw; 12. Guide plate; 13. Limit post; 14. Connecting seat one; 15. Connecting block; 16. Gripper; 17. Pressure sensor; 18. Anti-slip pad; 19. Push-pull rod; 20. Connecting seat two; Detailed Implementation In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0016] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0017] This invention provides, for example Figure 1-6 An adaptive three-claw gripper for drone mounting is shown, including a quick-release mounting base 1 and a protective shell 4 disposed below the quick-release mounting base 1. A universal quick-release interface 2 is fixed on the surface of the quick-release mounting base 1. The universal quick-release interface 2 is compatible with the gimbal mounting interface of mainstream multi-rotor drones and the standardized airborne mounting interface. A manual locking wrench 3 is provided on the side of the quick-release mounting base 1. The manual locking wrench 3 adopts a cam locking structure. The interface can be locked and released by pulling the locking wrench. After the interface is locked, the connection gap is less than 0.5mm. The device can be quickly attached and detached from the drone without any tools, and it is compatible with different models of multi-rotor drones. The protective shell 4 is made of high-strength, lightweight alloy material. Four circular guide holes are evenly spaced on its surface, and a guide shaft 5, fixedly connected to the bottom of the quick-release mount 1, is movably connected within these guide holes. A wear-resistant bushing is installed between the guide shaft 5 and the guide holes to reduce frictional loss during relative movement. A limit block 6 is welded and fixed to the bottom of the guide shaft 5, and a buffer spring 7 is sleeved on the outside of the guide shaft 5. The two ends of the buffer spring 7 abut against the bottom of the quick-release mount 1 and the top of the protective shell 4, respectively. In its natural state, the buffer spring 7 is slightly tensioned, effectively buffering impact. Mounting holes are provided on the surface of the protective shell 4, and a displacement sensor 8 is fixed to these holes by bolts. The detection end of the displacement sensor 8 faces the quick-release mount 1, allowing real-time detection of the relative displacement between the protective shell 4 and the quick-release mount 1. The protective shell 4 has four through holes evenly spaced on its exterior. Electromagnetic lock pins 9, corresponding to the positions of the limiting block 6, are installed in the through holes of the protective shell 4. The electromagnetic lock pins 9 are electrically connected to the main control system of the drone. A locking hole corresponding to the electromagnetic lock pin 9 is provided on one side of the outer wall of the limiting block 6. The telescopic end of the electromagnetic lock pin 9 can be inserted into the locking hole to fix the guide shaft 5 relative to the protective shell 4. Strip-shaped weight-reducing grooves are provided on all four outer walls of the protective shell 4. The size of the weight-reducing grooves can be set according to actual usage requirements. While ensuring the structural strength of the protective shell 4, the weight of the protective shell 4 is reduced to the maximum extent. Reinforcing ribs can be provided in the weight-reducing grooves to improve the deformation resistance of the protective shell 4. A controller and data transmission module (not shown in the figure) are installed in a suitable position inside the protective shell 4 to facilitate remote control of the device. A servo motor 10 is fixed to the top wall of the inner cavity of the protective shell 4 by a motor mounting bracket bolt. The servo motor 10 is a speed-regulating servo motor and is electrically connected to the controller. The output end of the servo motor 10 is fixed to a guide screw 11 by a coupling. The bottom of the guide screw 11 is rotatably connected to the bottom plate of the protective shell 4 by a bearing to ensure the stability of the guide screw 11 when rotating. A guide plate 12 is threadedly connected to the outer wall of the guide screw 11. Two limit holes are symmetrically opened on the guide plate 12. A limit post 13, which is welded and fixed to the inner wall of the protective shell 4, is movably connected in the limit holes of the guide plate 12. The limit post 13 is clearance-fitted with the limit hole to limit and guide the movement of the guide plate 12, preventing the guide plate 12 from rotating synchronously with the guide screw 11 and ensuring that the guide plate 12 moves vertically along the limit post 13. Three clamping mechanisms are evenly spaced at the bottom of the protective shell 4, forming an equilateral triangle. Three corresponding connectors are also evenly spaced inside the protective shell 4. Each clamping mechanism includes a connecting seat 14 and a gripper 16. The connecting seat 14 is welded and fixed to the bottom of the protective shell 4, and a connecting block 15, which is fixedly connected to the gripper 16, is rotatably connected to the connecting seat 14 via a rotating shaft. Rolling bearings are provided between the rotating shaft, the connecting seat 14, and the connecting block 15 to reduce rotational friction. The gripping end of the gripper 16... With an arc-shaped structure, it can adapt to the outer contour of most objects. A mounting groove is opened on one side of the outer wall of the gripper 16. A pressure sensor 17 is fixed in the mounting groove by a buckle. The pressure sensor 17 is electrically connected to the controller and can detect the clamping pressure between the gripper 16 and the material in real time. An anti-slip pad 18 is provided on one side of the pressure sensor 17 and is bonded to the gripper 16. The anti-slip pad 18 is made of wear-resistant rubber or silicone material and has anti-slip texture on the surface to improve the gripping friction and prevent the gripper 16 from scratching the surface of the material. The connector consists of a push-pull rod 19 and two connecting seats 20. Both connecting seats 20 are rotatably connected to both ends of the push-pull rod 19 via a rotating shaft. Wear-resistant bushings are provided at the rotating shaft. The two connecting seats 20 are welded and fixed to the bottom of the guide plate 12 and the upper part of the gripper 16, respectively, to realize the linkage between the guide plate 12 and the gripper 16. The vertical movement of the guide plate 12 can drive the gripper 16 to rotate and open around the rotating shaft of the connecting seat 14 via the push-pull rod 19. The bottom of the protective shell 4 is provided with three equally spaced moving slots for the push-pull rod 19 to move. The width of the moving slots is adapted to the diameter of the push-pull rod 19 to provide space for the movement of the push-pull rod 19.

[0018] All standard parts used in this invention can be purchased from the market, and irregularly shaped parts can be customized according to the description and drawings. The specific connection methods of each part all adopt conventional methods such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts conventional connection methods in the prior art, which will not be described in detail here. The control method of this invention is through a controller. The control circuit of the controller can be implemented by those skilled in the art through simple programming. It should be noted that the electrical components mentioned in this invention have been sorted according to the actual situation during manufacturing, so that the wire harness will not cause the wire harness to become tangled and will not affect the normal operation of the equipment. The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0019] In the description of this invention, it should be understood that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description, and is not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0020] Working principle: The adaptive three-claw gripper for drone mounting is used by first connecting the device to the drone's mounting part through the universal quick-release interface 2 on the quick-release mount 1, and then locking the interface by pulling the manual locking wrench 3 using the cam locking structure, thus quickly fixing the device to the drone. After the device is powered on, the electromagnetic lock stop pin 9 is in the retracted state, the buffer spring 7 naturally opens, and the protective shell 4 can move slightly along the guide shaft 5. The displacement sensor 8 detects the relative displacement between the protective shell 4 and the quick-release mounting seat 1 in real time and transmits the signal to the controller. When the drone hovers above the material to be clamped and slowly descends, the gripper 16 at the bottom of the protective shell 4 contacts the material. The impact force generated by the contact pushes the protective shell 4 to move upward along the guide shaft 5, the buffer spring 7 is compressed, and the impact force is offset. The displacement sensor 8 feeds back the displacement signal to the controller, and the controller controls the drone to stop descending. Subsequently, the controller issues a command to start the servo motor 10. The servo motor 10 drives the guide screw 11 to rotate. Under the limiting and guiding action of the limit post 13, the guide plate 12 moves vertically upward along the guide screw 11. The guide plate 12 pulls the push-pull rod 19 through the bottom connecting seat 20. The push-pull rod 19 drives the gripper 16 to rotate inward around the axis of the connecting seat 14 through the other end connecting seat 20. The three grippers 16 synchronously converge towards the center to clamp the material. The pressure sensor 17 on the gripper 16 detects the clamping pressure in real time and transmits the signal to the controller. When the clamping pressure reaches the preset value, the controller controls the servo motor 10 to stop working, completing the clamping of the material. At the same time, the controller controls the electromagnetic lock stop pin 9 to extend, and its telescopic end is inserted into the locking hole of the limit block 6 to achieve relative fixation between the guide shaft 5 and the protective shell 4, preventing the protective shell 4 from shaking during operation and causing the material to fall off. After the drone transports the material to the designated location, the controller first controls the electromagnetic lock stop pin 9 to retract and unlock, and then starts the servo motor 10 to rotate in the opposite direction, driving the guide plate 12 to move vertically downward. The guide plate 12 pushes the gripper 16 to rotate and open outward through the push-pull rod 19. After the pressure sensor 17 detects that the clamping pressure has disappeared, the controller controls the servo motor 10 to stop working, completing the release of the material. During the entire operation, the anti-slip pad 18 can effectively improve the clamping friction and prevent the material from slipping and falling off. The protective shell 4 protects the core components such as the internal servo motor 10 and guide screw 11, preventing the components from being damaged by collision during the operation.

[0021] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An adaptive three-claw gripper for mounting on unmanned aerial vehicles (UAVs), comprising a quick-release mounting base (1) and a protective shell (4) disposed below the quick-release mounting base (1), characterized in that: The protective shell (4) has four guide holes at equal intervals on its surface, and a guide shaft (5) that is fixedly connected to the quick-release mounting base (1) is movably connected in the guide holes. A limit block (6) is fixed at the bottom of the guide shaft (5), and a buffer spring (7) is sleeved on the outside of the guide shaft (5). A servo motor (10) is installed on the top wall of the inner cavity of the protective shell (4), and a guide screw (11) is fixed at the output end of the servo motor (10). A guide plate (12) is threaded to the outer wall of the guide screw (11). Three clamping mechanisms are provided at equal intervals at the bottom of the protective shell (4), and three connecting parts corresponding to the clamping mechanisms are provided at equal intervals inside the protective shell (4).

2. The adaptive three-claw gripper for mounting on a UAV according to claim 1, characterized in that: The clamping mechanism includes a connecting seat (14) and a gripper (16). The connecting seat (14) is fixed to the bottom of the protective shell (4), and a connecting block (15) is rotatably connected to the gripper (16) via a rotating shaft inside the connecting seat (14).

3. The adaptive three-claw gripper for mounting on a UAV according to claim 2, characterized in that: The outer wall of one side of the gripper (16) is provided with an installation groove, in which a pressure sensor (17) is installed. On one side of the pressure sensor (17) is an anti-slip pad (18) that is fixedly connected to the gripper (16). The connector is located between the guide plate (12) and the gripper (16).

4. The adaptive three-claw gripper for mounting on a UAV according to claim 3, characterized in that: The connector consists of a push-pull rod (19) and two connecting seats (20). The two connecting seats (20) are rotatably connected to both ends of the push-pull rod (19) via a rotating shaft. The two connecting seats (20) are fixedly connected to the guide plate (12) and the gripper (16) respectively. The bottom of the protective shell (4) is provided with three moving slots at equal intervals for the push-pull rod (19) to move.

5. The adaptive three-claw gripper for mounting on a UAV according to claim 1, characterized in that: The surface of the quick-release mount (1) is equipped with a universal quick-release interface (2), which is compatible with the gimbal mount interface of mainstream multi-rotor UAVs and the standardized airborne mount interface. A manual locking wrench (3) is provided on the side of the quick-release mount (1).

6. The adaptive three-claw gripper for mounting on a UAV according to claim 1, characterized in that: The protective shell (4) has mounting holes on its surface, and a displacement sensor (8) is installed in the mounting holes on the surface of the protective shell (4). Weight reduction grooves are provided on all four outer walls of the protective shell (4).

7. An adaptive three-claw gripper for mounting on a UAV according to claim 1, characterized in that: The protective shell (4) has four through holes at equal intervals on its exterior, and an electromagnetic lock pin (9) corresponding to the position of the limiting block (6) is installed in the through holes of the protective shell (4). A locking hole corresponding to the electromagnetic lock pin (9) is opened on one side of the outer wall of the limiting block (6).

8. The adaptive three-claw gripper for mounting on a UAV according to claim 1, characterized in that: Two limiting holes are symmetrically opened on the guide plate (12), and a limiting post (13) that is fixedly connected to the inner wall of the protective shell (4) is movably connected in the limiting hole of the guide plate (12).

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