An elephant trunk-like grabbing device matched with a quadrotor unmanned aerial vehicle

Abstract

The application provides an elephant trunk grabbing device matched with a quadrotor unmanned aerial vehicle, which comprises an elephant trunk grabbing mechanism, the elephant trunk grabbing mechanism is installed at the bottom of the unmanned aerial vehicle body through a connecting frame, the unmanned aerial vehicle body is specifically a quadrotor unmanned aerial vehicle, the elephant trunk grabbing mechanism is used for grabbing objects at different positions through the quadrotor unmanned aerial vehicle, the elephant trunk grabbing mechanism comprises a top end module, a grabbing module and a grabbing driving rope, the top end module is installed at the bottom end of the connecting frame, seven grabbing modules are sequentially connected from top to bottom at the bottom end of the top end module, the bottom end of the grabbing driving rope is fixed on the bottommost grabbing module, and the grabbing driving rope is sequentially connected to the top end module after passing through the middle grabbing modules, the elephant trunk grabbing operation is completed through the cooperation of the grabbing driving rope and the grabbing modules, when the external length of the grabbing driving rope is shortened, the seven grabbing modules on the same side can be sequentially bent, and the objects to be grabbed can be grabbed, so that the elephant trunk grabbing device is convenient and practical.

Description

Technical Field

[0001] This invention belongs to the technical field of grasping devices for use with drones, specifically relating to an elephant trunk-like grasping device for use with a quadcopter drone. Background Technology

[0002] With the continuous development of drone technology, robotics technology, and intelligent manufacturing technology, rotary-wing drones have gradually expanded from traditional aerial photography, inspection, and mapping platforms to fields such as material transportation, disaster relief, facility maintenance, environmental monitoring, and high-altitude operations. Quadcopter drones are characterized by simple structure, vertical takeoff and landing, strong hovering ability, and good maneuverability, making them highly valuable in complex environments and areas inaccessible to personnel. Especially in scenarios such as chemical plants, outdoor photovoltaic power stations, disaster sites, construction sites, and around tall buildings, quadcopter drones can quickly reach target areas to complete observation, inspection, and auxiliary operation tasks. However, traditional drones primarily perform aerial observation functions, mainly relying on cameras and sensors to collect information, lacking the ability to directly interact with external targets. With the increasing application demands, drones not only need to observe but also need to possess certain operational capabilities such as picking up, transporting, sampling, and clearing obstacles. Therefore, combining drone platforms with mechanical grasping devices to form flying robots with aerial operation capabilities has become one of the important research directions in the field of robotics. Related research shows that aerial robotic arms and aerial grasping systems can expand the application scope of drones in inspection and maintenance, emergency rescue, agricultural harvesting, and material transportation.

[0003] Existing drone grasping devices mostly employ rigid mechanical claws, clamping end effectors, or simple hook structures. While these devices have a clear structure and are easy to control, their adaptability is relatively limited when grasping targets with complex shapes, fragile surfaces, or large size variations.

[0004] Meanwhile, drones are inherently unstable when operating in the air, and the moment the mechanical gripper contacts the target object, it can easily generate impact force and attitude disturbance, thus affecting flight safety. Therefore, gripping devices designed for drones should not only meet basic gripping functions, but also be lightweight, compact in structure, have smooth contact, strong environmental adaptability, and relatively simple control.

[0005] Based on this, a trunk-like grasping device for use with quadcopter drones is proposed. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an elephant trunk-like grasping device for use with a quadcopter drone, in order to address the shortcomings of the prior art mentioned above.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an elephant trunk-like grasping device used in conjunction with a quadcopter drone, comprising: Connector; Unmanned aerial vehicle (UAV) airframe; An elephant trunk-like grasping mechanism is mounted on the bottom of the drone body via a connecting frame; The elephant trunk-like grasping mechanism includes a top module, a grasping module, and a grasping drive rope; The top module is installed at the bottom of the connecting frame. Seven gripping modules are rotatably connected from top to bottom at the bottom of the top module. The bottom end of the gripping drive rope is fixed to the bottommost gripping module. The gripping drive rope passes through the middle gripping modules in sequence and is then connected to the top module. The elephant trunk gripping operation is completed through the cooperation of the gripping drive rope and the gripping modules.

[0008] As a further explanation of the present invention, the connecting frame is provided with a vertical frame that is fixedly connected to the drone body, and a slider is slidably connected to the bottom end of the connecting frame, and the top module is installed at the bottom end of the slider.

[0009] As a further explanation of the present invention, the drone body is specifically a quadcopter drone, and landing gear support rods are provided on both sides of the drone body.

[0010] As a further explanation of the present invention, the top module is specifically a rectangular cavity with a closed top, and two connecting seats are provided at the top of the rectangular cavity. The rectangular cavity is connected to the bottom of the slider through the connecting seats. The inner cavity of the rectangular cavity is equipped with a roller motor, and the outer side of the middle section of the rectangular cavity is equipped with a top rope hole seat. The top of the gripping drive rope passes through the top rope hole seat and is then connected to the roller motor. The bottom end of the rectangular cavity is provided with a first connecting groove, which is rotatably connected to the gripping module.

[0011] As a further explanation of the present invention, the gripping module is specifically a central cavity that runs through the top and bottom. A hinge seat is fixed at the top of the central cavity, a central rope hole seat is installed at the side end of the central cavity, and a second connecting groove is provided at the bottom end of the central cavity. The hinge seat of the topmost gripping module in the elephant trunk gripping mechanism is rotatably connected in the first connecting groove, and the hinge seat of the middle gripping module in the elephant trunk gripping mechanism is rotatably connected in the upper second connecting groove, thus completing the sequential rotational connection operation of the gripping modules of the elephant trunk gripping mechanism.

[0012] As a further explanation of the present invention, the gripping drive rope passes sequentially through the intermediate rope hole seat of the intermediate gripping module.

[0013] As a further explanation of the present invention, the top and bottom ends of the intermediate cavity on the side opposite to the intermediate rope hole seat are provided with reset spring connection holes, and a reset spring is installed between the two reset spring connection holes of two adjacent intermediate cavities.

[0014] As a further explanation of the present invention, the rectangular cavity and the intermediate cavity have the same external volume.

[0015] Compared with the prior art, the present invention has the following advantages: The elephant trunk-like grasping device used in conjunction with a quadcopter drone in this invention is specifically an elephant trunk-like grasping mechanism. This mechanism is mounted on the bottom of the drone body via a connecting frame. The drone body is a quadcopter drone, which allows for flexible adjustment of its spatial position during grasping, facilitating the grasping of objects in different locations. The elephant trunk-like grasping mechanism includes a top module, a grasping module, and a grasping drive rope. The top module is mounted on the bottom of the connecting frame, and seven grasping devices are sequentially connected from top to bottom at the bottom of the top module. The module has a gripping drive rope fixed at the bottom to the bottom gripping module. The gripping drive rope passes through the middle gripping modules and connects to the top module. The gripping drive rope and the gripping modules work together to perform the elephant trunk gripping operation. When the outer length of the gripping drive rope shortens, it can drive the seven gripping modules to bend sequentially on the same side, which can be used to grip the object to be gripped. When the outer length of the gripping drive rope extends, it can release the seven gripping modules, which can hang down naturally under their own weight, making it easy to release the gripped object. It is convenient and practical. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a side view of the overall structure of the present invention; Figure 3 This is a schematic diagram of the top module structure of the present invention; Figure 4 This is a schematic diagram of the grabbing module structure of the present invention; Figure 5 This is a schematic diagram of the overall grasping state of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1-Connecting frame; 11-Vertical frame; 12-Slider; 2-UAV body; 21-Landing gear support rod; 3-Elephant trunk-like gripping mechanism; 31-Top module; 311-Rectangular cavity; 312-Connecting seat; 313-Top rope hole seat; 314-First connecting groove; 32-Gripping module; 321-Intermediate cavity; 322-Hinge seat; 323-Intermediate rope hole seat; 324-Second connecting groove; 33-Gripping drive rope. Detailed Implementation

[0018] To make the technical problems, technical solutions, and beneficial effects of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the described embodiments are only a part of the embodiments of this application, not all of them. The specific embodiments described herein are only used to explain the invention and are not intended to limit the invention. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] like Figure 1-5 As shown, the present invention provides a technical solution: an elephant trunk-like grasping device for use with a quadcopter drone, comprising: a connecting frame 1, a drone body 2, and an elephant trunk-like grasping mechanism 3, wherein the elephant trunk-like grasping mechanism 3 is installed at the bottom of the drone body 2 via the connecting frame 1. In this embodiment, the drone body 2 is specifically a quadcopter drone, and landing gear support rods 21 are provided on both sides of the drone body 2. The quadcopter drone can flexibly adjust the spatial position during grasping, which is convenient for grasping objects in different positions.

[0020] The connecting frame 1 is provided with a vertical frame 11 that is fixedly connected to the drone body 2. A slider 12 is slidably connected to the bottom end of the connecting frame 1, and the top module 31 is installed at the bottom end of the slider 12.

[0021] In this embodiment, the elephant trunk-like grasping mechanism 3 includes a top module 31, grasping modules 32, and a grasping drive rope 33. The top module 31 is installed at the bottom of the connecting frame 1. Seven grasping modules 32 are rotatably connected from top to bottom at the bottom of the top module 31. The bottom end of the grasping drive rope 33 is fixed to the bottommost grasping module 32, and the grasping drive rope 33 passes through the middle grasping modules 32 in sequence before connecting to the top module 31. The elephant trunk-like grasping operation is completed through the cooperation of the grasping drive rope 33 and the grasping modules 32, that is, the grasping drive rope 33 can drive the seven grasping modules 32 to bend sequentially on the same side. Figure 5 As shown, the objects to be grasped can be grasped at the bends of the seven grasping modules 32.

[0022] In this embodiment, the top module 31 is specifically a rectangular cavity 311 with the top closed. Two connecting seats 312 are provided at the top of the rectangular cavity 311, and the rectangular cavity 311 is connected to the bottom of the slider 12 through the connecting seats 312. The rectangular cavity 311 is equipped with a roller motor inside, and the outer side of the middle section of the rectangular cavity 311 is equipped with a top rope hole seat 313. The top end of the gripping drive rope 33 passes through the top rope hole seat 313 and is connected to the roller motor. The rotation of the roller motor can drive the adjustment of the external length of the gripping drive rope 33. When the external length of the gripping drive rope 33 is shortened, it can drive the seven gripping modules 32 to bend sequentially on the same side, enabling them to grip the object to be gripped. When the external length of the gripping drive rope 33 extends, it can release the seven gripping modules 32 so that the seven gripping modules 32 hang down naturally under their own weight, which facilitates the release of the gripped object.

[0023] In this embodiment, the bottom end of the rectangular cavity 311 is provided with a first connecting groove 314, which is rotatably connected to the gripping module 32 through the first connecting groove 314. The gripping module 32 is specifically a middle cavity 321 that runs through the top and bottom. The top end of the middle cavity 321 is fixed with a hinge seat 322, the side end of the middle cavity 321 is installed with a middle rope hole seat 323, and the bottom end of the middle cavity 321 is provided with a second connecting groove 324. The hinge seat 322 of the topmost gripping module 32 in the elephant trunk gripping mechanism 3 is rotatably connected in the first connecting groove 314, and the hinge seat 322 of the middle gripping module 32 in the elephant trunk gripping mechanism 3 is rotatably connected in the upper second connecting groove 324, thus completing the sequential rotational connection operation of the gripping modules 32 of the elephant trunk gripping mechanism 3.

[0024] In order for the gripping drive rope 33 to synchronously control the bending gripping operation of the gripping module 32, the gripping drive rope 33 passes through the middle rope hole seat 323 of the middle gripping module 32 in sequence.

[0025] In this embodiment, in order to improve the reset efficiency of the gripping module 32, the top and bottom ends of the intermediate cavity 321 on the side opposite to the intermediate rope hole seat 323 are provided with reset spring connection holes. A reset spring is installed between the two reset spring connection holes of two adjacent intermediate cavities 321. Under the action of the reset spring, when the external length of the gripping drive rope 33 is extended, the seven gripping modules 32 can be quickly reset, which can improve the gripping and release efficiency.

[0026] To improve the stability of grasping objects, the rectangular cavity 311 and the intermediate cavity 321 have the same external volume.

[0027] It should be further noted that the accompanying drawings and embodiments of the present invention mainly describe the concept of the present invention. Based on this concept, some specific forms and arrangements of connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, under the premise that those skilled in the art understand the concept of the present invention, they can implement the above-mentioned specific forms and arrangements in a well-known manner.

[0028] When a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] The directional terms "inner" and "outer" refer to the inner and outer sides relative to the outline of each component itself. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," or "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0030] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways, and the spatial relative descriptions used herein will be interpreted accordingly.

[0031] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, and "several" means one or more, unless otherwise explicitly specified.

[0032] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0033] 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. A trunk-like grasping device for use with a quadcopter drone, characterized in that, include: Connector (1); Unmanned aerial vehicle body (2); An elephant trunk-like grasping mechanism (3) is installed on the bottom of the UAV body (2) via a connecting frame (1); The elephant trunk-like grasping mechanism (3) includes a top module (31), a grasping module (32), and a grasping drive rope (33). The top module (31) is installed at the bottom of the connecting frame (1). Seven gripping modules (32) are connected to the bottom of the top module (31) from top to bottom. The bottom end of the gripping drive rope (33) is fixed on the bottommost gripping module (32). The gripping drive rope (33) passes through the middle gripping modules (32) and is then connected to the top module (31). The elephant trunk gripping operation is completed through the cooperation of the gripping drive rope (33) and the gripping modules (32).

2. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 1, characterized in that, The connecting frame (1) is provided with a vertical frame (11) that is fixedly connected to the drone body (2). The bottom end of the connecting frame (1) is slidably connected to a slider (12), and the top module (31) is installed at the bottom end of the slider (12).

3. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 2, characterized in that, The drone body (2) is specifically a quadcopter drone, and landing gear support rods (21) are provided on both sides of the drone body (2).

4. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 3, characterized in that, The top module (31) is specifically a rectangular cavity (311) with the top closed. Two connecting seats (312) are provided at the top of the rectangular cavity (311). The rectangular cavity (311) is connected to the bottom of the slider (12) through the connecting seats (312). The rectangular cavity (311) is equipped with a roller motor, and the outer side of the middle section of the rectangular cavity (311) is equipped with a top rope hole seat (313). The top end of the gripping drive rope (33) passes through the top rope hole seat (313) and is then connected to the roller motor. The bottom end of the rectangular cavity (311) is provided with a first connecting groove (314), which is rotatably connected to the gripping module (32) through the first connecting groove (314).

5. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 4, characterized in that, The gripping module (32) is specifically a central cavity (321) that runs through the top and bottom. A hinge seat (322) is fixed at the top of the central cavity (321), a central rope hole seat (323) is installed at the side end of the central cavity (321), and a second connecting groove (324) is provided at the bottom end of the central cavity (321). The hinge seat (322) of the topmost gripping module (32) in the elephant trunk gripping mechanism (3) is rotatably connected in the first connecting groove (314), and the hinge seat (322) of the middle gripping module (32) in the elephant trunk gripping mechanism (3) is rotatably connected in the upper second connecting groove (324), thus completing the sequential rotational connection operation of the gripping module (32) of the elephant trunk gripping mechanism (3).

6. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 5, characterized in that, The gripping drive rope (33) passes through the intermediate rope hole seat (323) of the intermediate gripping module (32) in sequence.

7. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 6, characterized in that, The top and bottom ends of the intermediate cavity (321) on the side opposite to the intermediate rope hole seat (323) are provided with reset spring connection holes, and a reset spring is installed between the two reset spring connection holes of two adjacent intermediate cavities (321).

8. The elephant trunk-like grasping device for use with a quadcopter drone according to claim 7, characterized in that, The rectangular cavity (311) and the intermediate cavity (321) have the same external volume.

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