Flexible bionic finger type unmanned aerial vehicle clamping jaw device

Abstract

The utility model provides a flexible bionic finger type unmanned aerial vehicle clamping jaw device. The flexible bionic finger type unmanned aerial vehicle clamping jaw device comprises a mounting plate, a positioning supporting plate, a base frame and a clamping jaw mechanism. The positioning supporting plate is arranged at the lower end of the mounting plate, the lower end of the positioning supporting plate is fixedly connected with the base frame, the clamping jaw mechanism is arranged at the lower end of the mounting plate and comprises an air cylinder, a fixing seat, positioning blocks, jaw arms, a telescopic shaft and a connecting rod which are arranged at the lower end of the base frame, the multiple positioning blocks are annularly distributed on the fixing seat, and the jaw arms are rotationally connected to the positioning blocks; the telescopic shaft is driven by the air cylinder to move, so that each claw arm is expanded, after an article is placed among the four claw arms or clamped, the clamped article can be fixed by contracting the telescopic shaft through the air cylinder, when a bag type article is lifted, the claw arms are opened, a lifting rope or a lifting groove of a bag body is arranged on hook rings on the claw arms in a sleeving mode, and then the bag type article is lifted. Compared with a traditional unmanned aerial vehicle clamping jaw, the clamping jaw can effectively grab and convey soft objects, and the adaptability is wider.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle transportation, and in particular to a flexible bionic finger-type unmanned aerial vehicle clamping device. Background Art

[0002] In today's fields of logistics, transportation and aerial work assistance, drones are playing an increasingly important role due to their flexible and convenient features. As a key component, the performance of the drone gripper device directly affects the effectiveness of mission execution.

[0003] Traditional drone grippers mostly use rigid structures, such as common mechanical clamps. Although they can meet basic needs when clamping conventional hard objects, they have significant defects when facing soft objects. In the scene of power line inspection and maintenance, ground personnel often need to use drones to transport tools to high-altitude workers. These tools are usually placed in cloth bags. Traditional grippers are difficult to grasp cloth bags steadily and are prone to slipping, which cannot guarantee transportation reliability.

[0004] As the industry develops, the requirements for the adaptability of drone grippers are becoming more and more stringent. Not only do they have to deal with hard objects of various shapes, but they also need to overcome the problem of clamping soft objects in order to expand the scope of drone applications and improve operational efficiency and safety. In this context, the development of drone grippers that can effectively grasp soft objects and have strong adaptability has become a key technical issue that needs to be solved urgently. Utility Model Content

[0005] According to the technical problems raised above, a flexible bionic finger-type drone gripper device is provided. The utility model solves the problem that the existing drone gripper can only grip hard conventional objects and cannot handle the gripping operation when encountering soft objects by designing a bionic finger-type drone gripper device.

[0006] In order to achieve the above-mentioned purpose, the utility model provides a flexible bionic finger-type drone gripper device, comprising: a mounting plate, a positioning support plate, a base frame, and a gripper mechanism;

[0007] The positioning support plate is arranged at the lower end of the mounting plate and its lower end is fixedly connected to the base frame, and the clamping claw mechanism is arranged at the lower end of the mounting plate;

[0008] The clamping mechanism includes a cylinder, a fixed seat, a positioning block, a claw arm, a telescopic shaft and a connecting rod. The cylinder is arranged at the lower end of the base frame and is fixedly connected to the grasping end of the clamp through the telescopic shaft; the fixed seat is fixedly installed at the connection between the grasping end of the clamp and the telescopic shaft, the positioning block is distributed in a ring shape on the fixed seat and is rotatably connected to the claw arm, the connecting rod is arranged in a ring shape on the cylinder and is correspondingly connected to the positioning block, and a hook ring is provided on the claw arm, and the telescopic shaft is driven by the cylinder to move to make the claw arm open or clamp an object.

[0009] Furthermore, a movable groove is provided on the claw arm, a movable block is slidably connected to the movable groove, a fixed block connected to the hook ring is installed on the movable block, and the movable block slides in the movable groove to achieve coordinated hanging with the bag body carrying rope or hand-held groove.

[0010] Furthermore, a shaping rod is fixedly installed inside the movable groove, and a return spring is sleeved outside the shaping rod. One end of the return spring is connected to the movable block, and the other end is connected to the inner wall of the claw arm, providing buffer protection for the objects when conveying the objects.

[0011] Furthermore, hinge seats are equidistantly arranged on the cylinder, the hinge seats are rotatably connected to the connecting rod, and one end of the connecting rod away from the hinge seat is rotatably connected to the positioning block, thereby ensuring stable movement of the claw arm when the cylinder is driven.

[0012] Furthermore, two movable rails are equidistantly provided on the upper end of the mounting plate, and sliders are relatively slidably installed on the movable rails. A mounting ring is provided on the upper end of the slider. The position of the mounting ring is adjusted by sliding the slider on the movable rail to adapt to drone landing gears of different specifications.

[0013] Furthermore, a motor is installed at the lower end of the mounting plate, and the output end of the motor is connected to a wire roller installed on the mounting plate. A rope connected to the cylinder is wound around the surface of the wire roller. A horizontal plate is fixedly installed on the base frame, and a through hole for limiting the rope is provided on the horizontal plate.

[0014] Furthermore, a pressure sensor is provided on the mounting plate for real-time monitoring of the clamping force of the clamping mechanism to ensure that the soft object is not damaged during the clamping process.

[0015] Due to the adoption of the above technical solution, compared with the prior art, the utility model has the following advantages:

[0016] 1. The utility model provides a flexible bionic finger-type drone gripper device, which can effectively grasp soft objects, breaking through the limitation that traditional drone grippers can only grip hard conventional objects. Whether it is bagged items or soft objects such as tools placed in cloth bags, it can achieve stable gripping and transportation, greatly expanding the application scope of drones in different transportation scenarios, and significantly improving the versatility and practicality of drone transportation.

[0017] 2. The utility model provides a flexible bionic finger-type drone gripper device. The movable groove, movable block, shaping rod and reset spring and other structures arranged on the gripper arm play a good buffering role in the flight process of conveying objects. It can not only protect the clamped objects from damage caused by the vibration or acceleration of the drone flight, but also enhance the gripping stability of the gripper on the objects, reduce the risks of shaking and falling of the objects, and improve the safety and reliability of the transportation process.

[0018] 3. The utility model provides a flexible bionic finger-type UAV gripper device. The design of the movable rail, slider and mounting ring on the mounting plate enables it to be easily adapted to the landing gear at the bottom of UAVs of different specifications, and the installation process is simple and quick. At the same time, the cylinder drives the claw arm to open or contract to clamp objects, and the motor drives the line roller to lift objects. The operation mode is easy to control, which reduces the difficulty of operation for operators, improves work efficiency, and reduces labor costs and the possibility of operational errors.

[0019] Based on the above reasons, the utility model can be widely promoted in the field of drone transportation technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0021] Figure 1 This is a schematic diagram of the structure of a flexible bionic finger-type UAV gripper device described in the utility model;

[0022] Figure 2 This is a schematic diagram of the base structure of a flexible bionic finger-type drone gripper device described in the utility model;

[0023] Figure 3 The utility model is a flexible bionic finger-type drone gripper device Figure 2 The enlarged structural diagram at A in the middle;

[0024] Figure 4 It is a partial schematic diagram of the claw arm of a flexible bionic finger-type drone gripper device described in the utility model.

[0025] In the figure: 1. Mounting plate; 11. Movable rail; 12. Slider; 13. Mounting ring; 2. Positioning support plate;

[0026] 3. Base frame; 31. Horizontal plate; 32. Line roller; 33. Motor; 4. Clamping mechanism; 41. Cylinder; 42. Connecting rod; 43. Positioning block; 44. Claw arm; 441. Movable groove; 442. Movable block; 443. Shaping rod; 444. Reset spring; 445. Fixing block; 446. Hook ring; 45. Fixing seat. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0028] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0030] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be regarded as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0031] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0032] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0033] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0034] like Figures 1 to 4 As shown, the utility model is a flexible bionic finger-type UAV gripper device, comprising: a mounting plate 1, a positioning support plate 2, a base frame 3, and a gripper mechanism 4;

[0035] The positioning support plate 2 is arranged at the lower end of the mounting plate 1 and its lower end is fixedly connected to the base frame 3, and the clamping mechanism 4 is arranged at the lower end of the mounting plate 1;

[0036] The clamping mechanism 4 includes a cylinder 41 arranged at the lower end of the base frame 3 and a fixed seat 45 fixedly installed at the connection between the gripping end of the clamping claw and the telescopic shaft. A plurality of positioning blocks 43 are distributed in a ring shape on the fixed seat 45. The positioning blocks 43 are rotatably connected to claw arms 44. Connecting rods 42 corresponding to the positioning blocks 43 are distributed in a ring shape on the cylinder 41. Hook rings 446 are provided on the claw arms 44. The telescopic shaft is driven to move by the cylinder 41 to cause the claw arms 44 to open or clamp items.

[0037] Furthermore, the main drive of the entire clamp is the cylinder 41, and the connecting rod 42, the positioning block 43, the telescopic shaft and the claw arm 44 on the cylinder 41 cooperate. When the telescopic shaft of the cylinder 41 extends outward, the positioning block 43 will be restricted by the connecting rod 42, so that each claw arm 44 will open. After the soft objects are placed between the four claw arms 44, the telescopic shaft is tightened by the cylinder 41 to reset each claw arm 44 to clamp the objects. For workers who are working at high altitudes during power inspections, the tools that the workers need to use temporarily can be put into a cloth bag, and then the claw arms 44 can be used to clamp and deliver them.

[0038] A movable groove 441 is provided on the claw arm 44, and a movable block 442 is slidably connected to the movable groove 441. A fixed block 445 for connecting with a hook ring 446 is installed on the movable block 442. A shaping rod 443 for movably interlacing with the movable block 442 is fixedly installed inside the movable groove 441. A return spring 444 is sleeved on the outside of the shaping rod 443. One end of the return spring 444 is connected to the movable block 442, and the other end of the return spring 444 is connected to the inner wall of the claw arm 44.

[0039] Furthermore, the movable groove 441 on the claw arm 44 is mainly used for the movable block 442 to slide along the path of the movable groove 441. The fixed block 445 and the hook ring 446 fixed on the movable block 442 can also cooperate to hang the hand slot at the mouth of the bag body on the upper end of the hook ring 446 for transporting the bag body, and the return spring 444 and the shaping rod 443 in the claw arm 44 can provide a certain buffer for the transported items when they are flying.

[0040] Hinge seats for rotationally connecting with the connecting rod 42 are equidistantly arranged on the cylinder 41 , and one end of the connecting rod 42 away from the hinge seat is rotationally connected with the positioning block 43 .

[0041] Two movable rails 11 are equidistantly arranged at the upper end of the mounting plate 1, and sliders 12 are relatively slidably mounted on the two movable rails 11. The upper ends of the sliders 12 are provided with mounting rings 13. A motor 33 is mounted on the lower end of the mounting plate 1, and the output end of the motor 33 is connected to a wire roller 32 mounted on the mounting plate 1. A rope for connecting to a cylinder 41 is wound around the surface of the wire roller 32. A cross plate 31 is fixedly mounted on the base frame 3, and a through hole for limiting the rope is opened on the cross plate 31.

[0042] Furthermore, the present device is mainly used to fix the relatively distributed mounting rings 13 on the movable rail 11 above the mounting plate 1 to the landing gear below the UAV, and is used for assembly with the UAV. The mounting rings 13 can be freely moved laterally along the movable rail 11 through the slider 12 to adapt to the spacing of the landing gears of UAVs of different specifications. The mounting rings 13 can be hinged open. After the landing gear of the UAV is fixed by bolts, it can be used in conjunction with the UAV to transport objects. The motor 33 drives the wire roller 32 to lift the objects clamped by the claw arm 44, so as to avoid the UAV being too close to the operators at high altitudes during the transportation of objects, causing injuries.

[0043] Furthermore, a pressure sensor is provided on the mounting plate for real-time monitoring of the clamping force of the clamping mechanism to ensure that the soft items are not damaged during the clamping process.

[0044] When in use, the movable rail 11 on the mounting plate 1 and the slider 12 on the movable rail 11 can move freely to adapt to the landing gear at the bottom of drones of different specifications. Relying on the cooperation of the mounting ring 13 and the bolts, the entire device can be installed under the landing gear of the drone. When in use, the telescopic shaft can be driven to move by the cylinder 41 to open each claw arm 44. After the object is placed between the four claw arms 44 or clamped, the telescopic shaft can be retracted by the cylinder 41 to fix the clamped object. When lifting bag-type objects, open the claw arm 44 and put the lifting rope or hand groove of the bag body on the hook ring 446 on the claw arm 44. Compared with traditional drone grippers, this gripper can effectively grab and transport soft objects and has a wider adaptability.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the utility model.

Claims

1. A flexible bionic finger-type drone gripper device, characterized in that: include: Mounting plate, positioning support plate, base frame, clamping claw mechanism; The positioning support plate is arranged at the lower end of the mounting plate and its lower end is fixedly connected to the base frame, and the clamping claw mechanism is arranged at the lower end of the mounting plate; The clamping mechanism includes a cylinder, a fixed seat, a positioning block, a claw arm, a telescopic shaft and a connecting rod. The cylinder is arranged at the lower end of the base frame and is fixedly connected to the grasping end of the clamp through the telescopic shaft; the fixed seat is fixedly installed at the connection between the grasping end of the clamp and the telescopic shaft, the positioning block is distributed in a ring shape on the fixed seat and is rotatably connected to the claw arm, the connecting rod is arranged in a ring shape on the cylinder and is correspondingly connected to the positioning block, and a hook ring is provided on the claw arm, and the telescopic shaft is driven to move by the cylinder to make the claw arm open or clamp an object.

2. The flexible bionic finger-type drone gripper device according to claim 1 is characterized in that: The claw arm is provided with a movable groove, a movable block is slidably connected to the movable groove, a fixed block connected to the hook ring is installed on the movable block, and the movable block slides in the movable groove to achieve coordinated hanging with the bag body lifting rope or the hand-held groove.

3. The flexible bionic finger-type drone gripper device according to claim 2 is characterized in that: A shaping rod is fixedly installed inside the movable groove, and a return spring is sleeved outside the shaping rod. One end of the return spring is connected to the movable block, and the other end is connected to the inner wall of the claw arm, providing buffer protection for the objects when conveying the objects.

4. The flexible bionic finger-type drone gripper device according to claim 1, characterized in that: The cylinder is provided with hinge seats at equal distances, the hinge seats are rotatably connected to the connecting rod, and one end of the connecting rod away from the hinge seat is rotatably connected to the positioning block to ensure stable movement of the claw arm when the cylinder is driven.

5. The flexible bionic finger-type drone gripper device according to claim 1, characterized in that: Two movable rails are equidistantly arranged on the upper end of the mounting plate, and sliders are relatively slidably mounted on the movable rails. A mounting ring is arranged on the upper end of the slider. The position of the mounting ring can be adjusted by sliding the slider on the movable rail to adapt to drone landing gears of different specifications.

6. The flexible bionic finger-type drone gripper device according to claim 1, characterized in that: A motor is installed at the lower end of the mounting plate, and the output end of the motor is connected to a wire roller installed on the mounting plate. A rope connected to the cylinder is wound around the surface of the wire roller. A horizontal plate is fixedly installed on the base frame, and a through hole for limiting the rope is arranged on the horizontal plate.

7. The flexible bionic finger-type drone gripper device according to claim 1, characterized in that: A pressure sensor is provided on the mounting plate to monitor the clamping force of the clamping mechanism in real time to ensure that the soft object is not damaged during the clamping process.

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