Unmanned aerial vehicle grabbing device

Abstract

The unmanned aerial vehicle grabbing device comprises connecting rods, an adapter block, a grabbing piece and an anti-disengaging structure, the upper ends of the connecting rods are used for being connected with an unmanned aerial vehicle, the two connecting rods are arranged on the two sides of the adapter block correspondingly, and the two connecting rods can synchronously slide up and down relative to the adapter block; the upper end of the pull rod is connected with the lower end of the connecting rod, and the lifting hook is fixed to the lower end of the pull rod and used for hooking a rod piece on the top of the robot. The anti-disengaging structure is arranged between the connecting rod and the lifting hook and used for preventing the robot from disengaging from the lifting hook, and the connecting rod slides upwards to drive the anti-disengaging structure to clamp the rod piece. The unmanned aerial vehicle is of a mechanical structure, power supply of the unmanned aerial vehicle is not needed, the endurance of the unmanned aerial vehicle is increased, and the potential safety hazard that the unmanned aerial vehicle supplies power to the grabbing mechanism and consequently the unmanned aerial vehicle is insufficient is reduced. The device is simple in structure, easy to operate, convenient to overhaul, low in manufacturing cost, high in reliability and not prone to fatigue even if working for a long time, and the long-time working requirement is met.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned aerial vehicles, and in particular to a grasping device for unmanned aerial vehicles. Background Art

[0002] With the gradual advancement of modernization, people pay more attention to the ability to handle various emergency events. In order to improve the emergency response and handling efficiency of the command center for various accidents, minimize the harm and losses caused by various accidents, and ensure the stability of equipment order and people's safety, drones are urgently needed to scientifically and efficiently deploy operating robots to the required sites for operations.

[0003] However, in the existing technology, most of the devices of drone grasping robots need to utilize electric power resources, such as automatic grasping mechanisms, identification of grasped objects, etc. These devices often need to rely on drones for power supply, which will not only affect the drone's battery life and reduce flight time, but also bring higher operating difficulty to pilots or operators. Utility Model Content

[0004] To this end, the present application provides a drone grasping device to solve the above-mentioned technical problems.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] A drone grabbing device comprises a connecting rod, an adapter block, a grabbing piece and an anti-slip structure, wherein the upper end of the connecting rod is used to connect the drone, and two connecting rods are provided, which are respectively arranged on both sides of the adapter block, and the two connecting rods can slide up and down synchronously relative to the adapter block; the grabbing piece comprises a pull rod and a hook, the upper end of the pull rod is connected to the lower end of the connecting rod, and the hook is fixed to the lower end of the pull rod and is used to hook the rod member on the top of the robot; the anti-slip structure is arranged between the connecting rod and the hook, and is used to prevent the robot from falling off the hook, and the connecting rod slides upward to drive the anti-slip structure to clamp the rod member.

[0007] Optionally, an accommodating groove for placing the top rod of the robot is provided on the inner upper surface of the hook.

[0008] Optionally, the anti-detachment structure includes a connecting rod and an anti-detachment locking block, one end of the connecting rod is connected to the connecting rod, and the other end is rotatably connected to the rear end of the anti-detachment locking block; the middle part of the anti-detachment locking block is hinged to the hook, and the front end is used to approach or move away from the rod.

[0009] Optionally, a torsion spring is connected between the anti-drop locking block and the hook.

[0010] Optionally, a sliding rod is connected between the lower ends of the two connecting rods, and a sliding groove for the sliding rod to pass through is provided on the adapter block, and the sliding groove is opened in the vertical direction, and the sliding rod can slide up and down in the sliding groove.

[0011] Optionally, two clamping blocks are arranged on the sliding rod, and the two clamping blocks are respectively arranged between the adapter block and the two connecting rods to prevent the sliding rod from moving left and right.

[0012] Optionally, a clamping groove is arranged on one side of the anti-detachment locking block facing the receiving groove, and the position of the clamping groove corresponds to the position of the rod member.

[0013] Optionally, the connecting rod includes a first inclined rod and a second inclined rod connected to each other, an included angle is formed between the first inclined rod and the second inclined rod, the upper end of the first inclined rod is connected to the connecting rod, and the lower end of the second inclined rod is connected to the anti-detachment locking block.

[0014] Optionally, a torsion spring is connected between the pull rod and the connecting rod.

[0015] Optionally, the maximum rotation angle of the pull rod is 30°.

[0016] Compared with the prior art, the present application has at least the following beneficial effects:

[0017] 1. The unmanned aerial vehicle (UAV) grasping device of the present application is a pure mechanical structure and does not require the UAV to supply power to it, which ensures the endurance of the UAV and reduces the safety hazard that the UAV's power is insufficient due to power supply to the grasping mechanism. At the same time, this grasping device has a simple structure, simple operation, convenient maintenance, low manufacturing cost, high reliability, and is not prone to fatigue even during long-term operation, meeting the requirements of long-term operation.

[0018] 2. The receiving groove provides a placement space for the rod member, prevents the rod member from sliding on the hook, and ensures the reliability of grasping.

[0019] 3. The hook can rotate within a certain rotation range, which is convenient for hooking the robot rod member, reduces the difficulty of recovering the robot, and enables the drone operator to handle it more calmly.

[0020] 4. The clamping groove plays an anti-slip role and further limits the rod member. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more intuitively illustrate the prior art and the present application, exemplary drawings are given below. It should be understood that the specific shapes and structures shown in the drawings generally should not be regarded as limiting conditions when implementing the present application; for example, those skilled in the art are capable of making routine adjustments or further optimizations to the addition / deletion / attribution division of certain units (components), specific shapes, positional relationships, connection methods, dimensional proportional relationships, etc. based on the technical concept disclosed in the present application and the exemplary drawings.

[0022] Figure 1 FIG. is a schematic diagram of the overall structure of a UAV grasping device provided by an embodiment of the present application;

[0023] Figure 2 The front view of a drone grasping device provided by an embodiment of the present application;

[0024] Figure 3 The side view of a drone grasping device provided by an embodiment of the present application;

[0025] Figure 4 The structural schematic diagram of a drone grasping device provided by an embodiment of the present application in the state where the robot is not lifted;

[0026] Figure 5 The structural schematic diagram of a drone grasping device provided by an embodiment of the present application during the process of lifting the robot.

[0027] Explanation of reference numerals:

[0028] 1. Connecting rod; 2. Adapter block; 3. Grasping member; 31. Pull rod; 32. Hook; 4. Slide rod; 5. Chute; 6. Clamping block; 7. Link rod; 71. First inclined rod; 72. Second inclined rod; 8. Anti - detachment locking block; 9. Card slot. Detailed implementation manners

[0029] The following further details the present application through specific embodiments in conjunction with the accompanying drawings.

[0030] In the description of the present application: Unless otherwise specified, "a plurality of" means two or more. Terms such as "first", "second", "third", etc. in the present application are intended to distinguish the objects being referred to, and do not have special significance in terms of technical connotations (for example, they should not be understood as emphasizing importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0031] Terms such as "upper", "lower", "left", "right", "middle", etc. cited in the present application are usually indications of the general relative position relationship for the convenience of intuitively understanding with reference to the accompanying drawings, and are not absolute limitations on the position relationship in the actual product.

[0032] A drone grasping device, referring to Figure 1 , includes a connecting rod 1, an adapter block 2, a grasping member 3, and an anti - detachment structure. The upper end of the connecting rod 1 is used to connect to the drone. There are two vertical connecting rods 1, which are respectively arranged on both sides of the adapter block 2, and the two connecting rods 1 can slide up and down synchronously relative to the adapter block 2.

[0033] Specifically, referring to Figure 1 and Figure 2, a slide bar 4 is connected between the lower ends of two connecting rods 1, and the slide bar 4 is horizontally arranged. A chute 5 for the slide bar 4 to pass through is correspondingly opened on the adapter block 2, and the chute 5 is opened in the vertical direction, so that the slide bar 4 can move up and down in the chute 5, thereby driving the two connecting rods 1 to slide synchronously. To improve the stability of the slide bar 4 during sliding, the width of the chute 5 is set to match the diameter of the slide bar 4 to prevent the slide bar 4 from shaking.

[0034] Furthermore, to ensure the stability of the slide bar 4 during sliding, two clamping blocks 6 are also fixed on the slide bar 4. The two clamping blocks 6 are respectively arranged between the two connecting rods 1 and the adapter block 2, and each clamping block 6 can contact both the adapter block 2 and the connecting rod 1 simultaneously to prevent the slide bar 4 from moving left and right.

[0035] Refer to Figure 1 and Figure 3 , the grasping member 3 includes a pull rod 31 and a hook 32. The hook 32 is fixed at the lower end of the pull rod 31 and is used to hook the rod on the top of the robot. The hook 32 forms an acute angle with the pull rod 31 and is bent from the lower end of the pull rod 31, with the opening facing forward. The pull rod 31 is obliquely arranged and its upper end is connected to the lower end of the connecting rod 1.

[0036] Among them, to make it more convenient to grasp the robot, the pull rod 31 and the connecting rod 1 are rotatably connected, and a torsion spring is arranged between them, so that the pull rod 31 can rotate within a small range, making it more convenient to operate. In this embodiment, the maximum rotation angle of the pull rod 31 is 30°.

[0037] The anti - detachment structure is arranged between the connecting rod 1 and the hook 32 and is used to prevent the robot from falling off the hook 32. The connecting rod 1 slides upward to drive the anti - detachment structure to clamp the rod.

[0038] Specifically, the anti - detachment structure includes a connecting rod 7 and an anti - detachment locking block 8. One end of the connecting rod 7 is fixedly connected to the connecting rod 1, and the other end is rotatably connected to the rear end (the end far from the hook 32) of the anti - detachment locking block 8. The middle part of the anti - detachment locking block 8 is hinged to the hook 32, so that the anti - detachment locking block 8 can act as a lever, and the hinge point with the hook 32 is the fulcrum. When the rear end rotates, the front end rotates in the opposite direction to approach or move away from the rod.

[0039] The connecting rod 7 includes a first inclined rod 71 and a second inclined rod 72 which are connected to each other. An angle is formed between the first inclined rod 71 and the second inclined rod 72. The upper end of the first inclined rod 71 is connected to the connecting rod 1, and the lower end of the second inclined rod 72 is connected to the anti - detachment locking block 8.

[0040] Refer to Figure 4 and Figure 5, this device includes: before the robot is lifted, the sliding rod 4 is at the bottom of the chute 5. Under the transmission of the connecting rod 1 and the pull rod 31, the rear end of the anti - detachment locking block 8 is kept below, and the front end is in the first state away from the hook 32; after the robot is lifted, under the action of gravity, the adapter block 2 descends, the sliding rod 4 slides to the top of the chute 5. Under the transmission of the connecting rod 1 and the pull rod 31, the rear end of the anti - detachment locking block 8 rotates upward, and the front end approaches the hook 32 and is in the second state on the front side of the rod member.

[0041] In the embodiment of the present application, to ensure the anti - detachment effect, when the sliding rod 4 is at the top of the chute 5 in the second state, the anti - detachment locking block 8 just abuts against the front side of the pull rod 31.

[0042] Wherein, a torsion spring is also connected between the anti - detachment locking block 8 and the hook 32 to assist the anti - detachment locking block 8 to better abut against the rod member and improve the anti - detachment effect.

[0043] To prevent sliding between the anti - detachment locking block 8 and the rod member, a clamping groove 9 is provided on the side of the anti - detachment locking block 8 facing the receiving groove, and the position of the clamping groove 9 corresponds to that of the rod member. In the present application, the clamping groove 9 is set to an irregular shape, aiming to increase the friction with the rod member and reduce the generation of sliding.

[0044] The implementation principle of the embodiment of the present application is: before the grasping robot operates, the grasping device is not stressed, and the sliding rod 4 is at the bottom of the chute 5. At this time, under the transmission of the connecting rod 1 and the link 7, the front end of the anti - detachment locking block 8 opens upward, so that the opening of the grasping member 3 opens, and the hook 32 can smoothly pass through below the rod member.

[0045] It should be noted that the UAV grasping device is made of aluminum alloy Q235 material. The connecting part is connected with M8 nuts and thread - locking agent is applied to prevent the screws from loosening due to vibration.

[0046] After the rod member is placed in the receiving groove, the UAV flies upward. At this time, the grasping device is stressed. Under the action of gravity, the distance between the grasping member 3, the adapter block 2 and the robot and the UAV is enlarged. The adapter block 2 slides downward relative to the connecting rod 1, and the pull rod 31 slides upward relative to the robot and drives the rear end of the anti - detachment locking block 8 to move upward. Under the lever action, the front end of the anti - detachment locking block 8 rotates downward to abut against the rod member, blocking in front of the rod member, closing the opening of the grasping member 3, and achieving the anti - detachment effect.

[0047] The technical features of the above - mentioned embodiments can be combined arbitrarily (as long as there is no contradiction in the combination of these technical features). For the sake of concise description, not all possible combinations of the technical features in the above - mentioned embodiments are described; these embodiments not explicitly written out should also be regarded as within the scope recorded in this specification.

Claims

1. A drone grabbing device, characterized in that: The invention comprises a connecting rod (1), an adapter block (2), a grabbing member (3) and an anti-slip structure, wherein the upper end of the connecting rod (1) is used to connect a drone, and two connecting rods (1) are provided, which are respectively arranged on both sides of the adapter block (2), and the two connecting rods (1) can slide up and down synchronously relative to the adapter block (2); the grabbing member (3) comprises a pull rod (31) and a hook (32), the upper end of the pull rod (31) is connected to the lower end of the connecting rod (1), and the hook (32) is fixed to the lower end of the pull rod (31) and is used to hook the rod member at the top of the robot; the anti-slip structure is arranged between the connecting rod (1) and the hook (32) and is used to prevent the robot from falling off the hook (32), and the connecting rod (1) slides upward to drive the anti-slip structure to clamp the rod member.

2. The drone grabbing device according to claim 1, characterized in that: The inner upper surface of the hook (32) is provided with a receiving groove for the robot top rod to be placed in.

3. The drone grabbing device according to claim 1, characterized in that: The anti-slip structure comprises a connecting rod (7) and an anti-slip locking block (8); one end of the connecting rod (7) is connected to the connecting rod (1), and the other end is rotatably connected to the rear end of the anti-slip locking block (8); the middle part of the anti-slip locking block (8) is hinged to the hook (32), and the front end is used to approach or move away from the rod.

4. The drone grabbing device according to claim 3, characterized in that: A torsion spring is connected between the anti-drop locking block (8) and the hook (32).

5. The drone grabbing device according to claim 3, characterized in that: A sliding rod (4) is connected between the lower ends of the two connecting rods (1), and a sliding groove (5) for the sliding rod (4) to pass through is provided on the adapter block (2). The sliding groove (5) is provided in a vertical direction, and the sliding rod (4) can slide up and down in the sliding groove (5).

6. The drone grabbing device according to claim 5, characterized in that: The slide bar (4) is provided with two clamping blocks (6), and the two clamping blocks (6) are respectively arranged between the adapter block (2) and the two connecting rods (1) to prevent the slide bar (4) from moving left and right.

7. The drone grabbing device according to claim 5, characterized in that: A clamping groove (9) is provided on one side of the anti-dropping locking block (8) facing the accommodating groove, and the position of the clamping groove (9) corresponds to the position of the rod.

8. The drone grabbing device according to claim 5, characterized in that: The connecting rod (7) comprises a first oblique rod (71) and a second oblique rod (72) which are connected to each other, wherein an angle is formed between the first oblique rod (71) and the second oblique rod (72), the upper end of the first oblique rod (71) is connected to the connecting rod (1), and the lower end of the second oblique rod (72) is connected to the anti-drop locking block (8).

9. The drone grabbing device according to claim 1, characterized in that: A torsion spring is connected between the pull rod (31) and the connecting rod (1).

10. The drone grabbing device according to claim 1, characterized in that: The maximum rotation angle of the pull rod (31) is 30°.

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