Automatic grabbing device of load-carrying unmanned aerial vehicle

Abstract

The automatic grabbing device comprises an unmanned aerial vehicle body, an air cylinder is fixedly installed at the top end of the unmanned aerial vehicle body, two-way lead screws are movably installed in circular through grooves, one end of each two-way lead screw is connected with a motor, the motors are fixedly connected with the outer surface of a fixing base, and the two ends of each two-way lead screw are fixedly connected with the outer surface of the fixing base. Two sets of sliding seats are movably installed on the outer surface of the bidirectional lead screw, one sides of the two sets of sliding seats are connected with a sliding plate, and one side of the sliding plate is connected with a clamping claw. The unmanned aerial vehicle control system can accurately adjust the positions and postures of the unmanned aerial vehicle and the clamping claw, it is ensured that the clamping claw can be accurately aligned with and clamp a target object, the adjusting distance of the clamping claw is large through the effect of the bidirectional lead screw, and the clamping claw can adapt to various working conditions.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicle grabbing, in particular to an automatic grabbing device for a load-bearing unmanned aerial vehicle. Background Art

[0002] With the rapid development of drone technology, drones are increasingly used in various fields, including logistics, agriculture, search and rescue, etc. In these applications, the load capacity and autonomous operation capabilities of drones are particularly important. Especially in the field of logistics, the ability of drones to automatically grab and release loaded objects is of great significance for improving logistics efficiency and reducing labor costs.

[0003] However, there are still some technical difficulties in the automatic grasping and releasing of load-bearing objects by drones currently on the market. On the one hand, since the objects that load-bearing drones need to carry vary in shape, size and weight, it is a challenge to design an automatic grasping device that can adapt to the characteristics of different objects. Utility Model Content

[0004] (I) Purpose of the utility model

[0005] In view of this, the purpose of the present invention is to provide an automatic grabbing device for a load-carrying drone, which solves the problems raised in the above background.

[0006] (II) Technical solution

[0007] An automatic grasping device for a load-carrying unmanned aerial vehicle comprises an unmanned aerial vehicle body, support rods are fixedly installed on the outer surfaces of both sides of the bottom end of the unmanned aerial vehicle body, and a cylinder is fixedly installed on the top of the unmanned aerial vehicle body, the bottom end of the cylinder is connected to a connecting shell, and two groups of fixing seats are fixedly installed on the inner wall of the connecting shell, one side of the connecting shell is provided with a power charging port, the outer surfaces of the two groups of the fixing seats are provided with circular through grooves, and bidirectional screw rods are movably installed in the circular through grooves, one end of the bidirectional screw rod is connected to a motor, and the motor is fixedly connected to the outer surface of the fixing seat, two groups of sliding seats are movably installed on the outer surface of the bidirectional screw rod, and one side of the two groups of sliding seats is connected to a sliding plate, and one side of the sliding plate is connected to a clamping gripper.

[0008] Preferably, a protective plate is fixedly mounted on one side of the inner wall of the connecting shell, and a limiting sliding groove is provided on the outer surface of the protective plate.

[0009] Preferably, a connecting plate is fixedly mounted on one side of the sliding plate, and a laser sensor is fixedly mounted on the outer surface of the connecting plate.

[0010] Preferably, two sets of limiting slide rails are fixedly installed on both sides of the outer surface of the bottom end of the drone body, one side of the two sets of limiting slide rails is provided with a connecting slide groove, and a slider is movably installed in the connecting slide groove, and one end of the slider is connected to a connecting shell.

[0011] Preferably, a fixing rod is fixedly installed on the outer surface of one side of the two groups of limiting slide rails, and the fixing rod and the supporting rod are connected to each other, and a connecting rod is fixedly installed between the two groups of limiting slide rails.

[0012] Preferably, the outer surface of one side of the clamping grip is serrated.

[0013] Preferably, one side outer surface of the clamping grip is wrapped with rubber.

[0014] It can be seen from the above technical solutions that the present application has the following beneficial effects:

[0015] 1. The utility model takes stability and safety into consideration through the design of the clamping grip. The serrated outer surface and rubber wrapping provide better friction, ensuring that the items will not slip or shake during transportation. In addition, through the lifting and lowering of the cylinder and the clamping action driven by the motor, the entire grasping process is more stable and controllable, reducing the risk of damage to the items.

[0016] 2. The utility model detects the position and distance of the target object in real time through a laser sensor. The drone control system can accurately adjust the position and posture of the drone and the clamping gripper to ensure that the clamping gripper can accurately align with and clamp the target object. This high-precision positioning greatly improves the success rate and efficiency of grasping, and through the action of the bidirectional screw rod, the clamping gripper has a large adjustment distance and can adapt to a variety of working conditions.

[0017] 3. Through the automated precise grabbing and releasing operations, the utility model enables the drone to complete the grabbing and transportation tasks of multiple items in a short time, thereby significantly improving work efficiency. The entire grabbing process is automatically completed through the drone's internal control system without human intervention. This greatly reduces labor costs, improves work efficiency, and reduces the possibility of human error. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the first three-dimensional structure of the utility model;

[0019] Figure 2 This is a schematic diagram of the second three-dimensional structure of the utility model;

[0020] Figure 3 This is a schematic diagram of the clamping structure of the utility model;

[0021] Figure 4 For this utility model Figure 3 The enlarged schematic diagram at A in the middle;

[0022] Figure 5 For this utility model Figure 3 Enlarged schematic diagram of point B in the middle.

[0023] In the figure: 1. UAV body; 2. Cylinder; 3. Connecting shell; 4. Clamping grip; 5. Support rod; 6. Protective plate; 7. Limiting slide rail; 8. Slider; 9. Connecting plate; 911. Laser sensor; 912. Fixed seat; 913. Bidirectional screw rod; 914. Sliding seat; 915. Sliding plate; 916. Motor; 511. Fixed rod; 512. Connecting rod; 111. Power charging port. DETAILED DESCRIPTION

[0024] The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, and use. It should be understood that in all of these figures, the same or similar reference numerals indicate the same or similar parts and features. The various drawings only schematically represent the concepts and principles of the embodiments of the present disclosure, and do not necessarily show the specific dimensions and proportions of the various embodiments of the present disclosure. Specific parts in specific drawings may be exaggerated to illustrate the relevant details or structures of the embodiments of the present disclosure.

[0025] See also Figure 1-5 , an embodiment provided by the utility model:

[0026] An automatic grasping device for a load-carrying unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, support rods 5 are fixedly installed on the outer surfaces of both sides of the bottom end of the unmanned aerial vehicle body 1, and a cylinder 2 is fixedly installed on the top of the unmanned aerial vehicle body 1, the bottom end of the cylinder 2 is connected to a connecting shell 3, and two groups of fixing seats 912 are fixedly installed on the inner wall of the connecting shell 3, a power charging port 111 is provided on one side of the connecting shell 3, circular through grooves are provided on the outer surfaces of the two groups of fixing seats 912, and bidirectional screw rods 913 are movably installed in the circular through grooves, one end of the bidirectional screw rod 913 is connected to a motor 916, and the motor 916 is fixedly connected to the outer surface of the fixing seat 912, two groups of sliding seats 914 are movably installed on the outer surface of the bidirectional screw rod 913, and one side of the two groups of sliding seats 914 is connected to a sliding plate 915, and one side of the sliding plate 915 is connected to a clamping grip 4.

[0027] Furthermore, a protective plate 6 is fixedly installed on one side of the inner wall of the connecting shell 3, and a limiting groove is provided on the outer surface of the protective plate 6, in which a sliding plate 915 is movably engaged. The limiting groove limits the movement of the sliding plate 915, so that it maintains linear motion.

[0028] Furthermore, a connecting plate 9 is fixedly mounted on one side of the sliding plate 915, and a laser sensor 911 is fixedly mounted on the outer surface of the connecting plate 9. The laser sensor 911 can provide high-precision position and distance information to help the drone accurately locate the target object during the grasping process. This is crucial to ensure that the clamping gripper 4 can accurately align with and clamp the target object.

[0029] Furthermore, two sets of limiting slide rails 7 are fixedly installed on both sides of the outer surface of the bottom end of the drone body 1, and a connecting slide groove is opened on one side of the two sets of limiting slide rails 7, and a slider 8 is movably installed in the connecting slide groove, and one end of the slider 8 is connected to the connecting shell 3. Through the combination of the limiting slide rails 7 and the slider 8, the connecting shell 3 can be stably moved in the vertical direction while avoiding shaking or deviation during the movement.

[0030] Furthermore, a fixing rod 511 is fixedly installed on the outer surface of one side of the two sets of limiting slide rails 7, and the fixing rod 511 is connected to the support rod 5, and a connecting rod 512 is fixedly installed between the two sets of limiting slide rails 7. The limiting slide rail 7 is connected to the support rod 5 through the fixing rod 511, and the structure of the entire grasping device is strengthened, thereby improving its stability and load-bearing capacity.

[0031] Furthermore, the outer surface of one side of the clamping grip 4 is serrated, and the serrated design increases the contact points between the clamping grip 4 and the grasped object, thereby increasing the friction force. This helps to more stably fix the object during the grasping process and prevent it from slipping or shaking.

[0032] Furthermore, one side of the outer surface of the clamping grip 4 is wrapped with rubber, and the rubber material has good softness and elasticity, and can adapt to the surfaces of objects of different materials and shapes. Whether it is a smooth, rough or uneven surface, the rubber-wrapped clamping grip 4 can effectively fit and grasp.

[0033] Working principle: When the drone is ready to perform a grasping task, the drone body 1 sends a command through its internal control system to start the cylinder 2. The cylinder 2 starts to work, pushing the connecting shell 3 to move downward until the clamping gripper 4 approaches the target object. In the process of the clamping gripper 4 approaching the target object, the laser sensor 911 on the connecting plate 9 will detect the position and distance of the target object in real time. The laser sensor 911 feeds back the collected data to the control system of the drone. The control system adjusts the position and posture of the drone and the clamping gripper 4 based on this information to ensure that the clamping gripper 4 can accurately align with the target object. When the clamping gripper 4 reaches the predetermined position, the control system starts the motor 916. The motor 916 drives the bidirectional screw 913 to rotate, driving the sliding seat 914 to move in the circular through groove of the fixed seat 912. Due to the characteristics of the bidirectional screw 913, the two sets of sliding seats 914 will move toward or away from each other, thereby driving the sliding plate 915 and the clamping gripper 4 to perform clamping or release operations. One side of the outer surface of the clamping claw 4 is serrated and wrapped with rubber to increase the friction with the object and ensure that the object can be firmly clamped. When the clamping claw 4 successfully clamps the target object, the cylinder 2 works again to push the connecting shell 3 and the clamping claw 4 upward to lift the object under the drone body 1. The drone can then fly to the designated location and release the object through the operation of the cylinder 2 and the clamping claw 4 again.

[0034] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. An automatic grabbing device for a load-carrying UAV, comprising a UAV body (1), characterized in that: Support rods (5) are fixedly mounted on the outer surfaces of both sides of the bottom end of the drone body (1), and a cylinder (2) is fixedly mounted on the top end of the drone body (1), the bottom end of the cylinder (2) is connected to a connecting shell (3), and two groups of fixing seats (912) are fixedly mounted on the inner wall of the connecting shell (3), one side of the connecting shell (3) is provided with a power charging port (111), the outer surfaces of the two groups of fixing seats (912) are provided with circular through grooves, and bidirectional screw rods (913) are movably mounted in the circular through grooves, one end of the bidirectional screw rod (913) is connected to a motor (916), and the motor (916) is fixedly connected to the outer surface of the fixing seat (912), the outer surface of the bidirectional screw rod (913) is movably mounted with two groups of sliding seats (914), and one side of the two groups of sliding seats (914) is connected to a sliding plate (915), and one side of the sliding plate (915) is connected to a clamping grip (4).

2. The automatic grabbing device for a load-carrying drone according to claim 1, characterized in that: A protective plate (6) is fixedly mounted on one side of the inner wall of the connecting shell (3), and a limiting sliding groove is provided on the outer surface of the protective plate (6).

3. The automatic grabbing device for a load-carrying drone according to claim 1 is characterized in that: A connecting plate (9) is fixedly mounted on one side of the sliding plate (915), and a laser sensor (911) is fixedly mounted on the outer surface of the connecting plate (9).

4. The automatic grabbing device for a load-carrying drone according to claim 1, characterized in that: Two sets of limit slide rails (7) are fixedly installed on both sides of the outer surface of the bottom end of the drone body (1), one side of the two sets of limit slide rails (7) is provided with a connecting slide groove, and a slider (8) is movably installed in the connecting slide groove, and one end of the slider (8) is connected to the connecting shell (3).

5. The automatic grabbing device for a load-carrying drone according to claim 4, characterized in that: A fixing rod (511) is fixedly installed on the outer surface of one side of the two groups of limiting slide rails (7), and the fixing rod (511) and the support rod (5) are connected to each other. A connecting rod (512) is fixedly installed between the two groups of limiting slide rails (7).

6. The automatic grabbing device for a load-carrying drone according to claim 1, characterized in that: One side outer surface of the clamping claw (4) is in a sawtooth shape.

7. The automatic grabbing device for a load-carrying drone according to claim 1, characterized in that: One side outer surface of the clamping grip (4) is wrapped with rubber.

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