Hangar part grabbing mechanism and unmanned aerial vehicle hangar

Abstract

The utility model provides a hangar part grabbing mechanism and an unmanned aerial vehicle hangar, and relates to the technical field of unmanned aerial vehicle hangars, the hangar part grabbing mechanism comprises a quick-change connector, a tool frame and a grabbing device; the quick-change connector is detachably connected with the tool frame, the quick-change connector is provided with an interface matched with a transfer instrument, the grabbing device is connected to the tool frame, and the grabbing device has various forms and can be matched with various hangar parts such as a liner base, a side module and an opening and closing mechanism. And the operations of positioning, grabbing, collision prevention, separation and the like of the hangar parts can be realized.

Description

Technical Field

[0001] The utility model relates to the technical field of drone hangars, in particular to a grasping mechanism for hangar components and a drone hangar. Background Art

[0002] When grasping the assembled hangar components, due to the diverse shapes and structures of the clamped components of the inner tank base, side modules, and opening and closing mechanisms, it is difficult to position the clamped components, and it is difficult to maintain the stability of the clamped components during clamping. In addition, the clamped components are easily damaged by bumps during clamping, and it is difficult for the clamped components to disengage from the grasping mechanism during release, which will affect the continuous operation of the hangar component grasping mechanism. Summary of the Utility Model

[0003] The purpose of the utility model is to provide a grasping mechanism for hangar components and a drone hangar to achieve stable grasping of hangar components.

[0004] In a first aspect, the grasping mechanism for hangar components provided by the utility model includes: a quick-change joint, a tooling rack, and a grasping device;

[0005] The quick-change joint is detachably connected to the tooling rack, and the quick-change joint has an interface adapted to the transfer instrument;

[0006] The grasping device is connected to the tooling rack.

[0007] In combination with the first aspect, the utility model provides a first possible implementation manner of the first aspect, wherein the grasping device is adapted to the inner tank base, and the inner tank base includes: a base disk body and a conversion rack connected to the base disk body;

[0008] The grasping device includes a first clamping member for clamping the conversion rack.

[0009] In combination with the first possible implementation manner of the first aspect, the utility model provides a second possible implementation manner of the first aspect, wherein the first clamping member includes: a first clamping jaw, a second clamping jaw, and a first clamping driving member;

[0010] The first clamping driving member is installed on the tooling rack, the first clamping jaw and the second clamping jaw are respectively connected to the first clamping driving member, and a space for clamping the conversion rack is formed between the first clamping jaw and the second clamping jaw.

[0011] In combination with the second possible implementation manner of the first aspect, the utility model provides a third possible implementation manner of the first aspect, wherein the first clamping jaw is provided with a first convex portion and a second convex portion, and the first convex portion and the second convex portion are arranged at intervals along the y direction;

[0012] The second clamping jaw is provided with a third protrusion and a fourth protrusion, and the third protrusion and the fourth protrusion are arranged at intervals along the y direction;

[0013] The first clamping driving member is used to drive the first clamping jaw and the second clamping jaw to approach each other along the x direction perpendicular to the y direction, so as to clamp the conversion frame between the first clamping jaw and the second clamping jaw, and make one end of the conversion frame located between the first protrusion and the second protrusion, and the other end of the conversion frame located between the third protrusion and the fourth protrusion.

[0014] In combination with the first aspect, the utility model provides a fourth possible implementation of the first aspect, wherein the gripping device includes a second clamping member for clamping the side mold set;

[0015] The side mold assembly comprises a main body, a first reinforcing rib and a second reinforcing rib, wherein the first reinforcing rib and the second reinforcing rib are arranged at intervals and are respectively connected to the main body;

[0016] The second clamping member comprises: an arm, a third clamping jaw, a fourth clamping jaw and a second clamping driving member;

[0017] The second clamping driving member is installed on the arm frame, and the third clamping jaw and the fourth clamping jaw are respectively connected to the second clamping driving member in a transmission manner;

[0018] In the clamping state, the main body abuts against the arm, and the third clamping jaw and the fourth clamping jaw press the first reinforcing rib and the second reinforcing rib in a one-to-one correspondence.

[0019] In combination with the first aspect, the utility model provides a fifth possible implementation manner of the first aspect, wherein the gripping device includes a third clamping member for clamping the opening and closing mechanism;

[0020] The opening and closing mechanism comprises: a base and a plurality of petal frames, wherein the plurality of petal frames are arranged at intervals around the base and are respectively hinged to the base;

[0021] The third clamping member includes: a pressing member, a third clamping driving member and a fifth clamping claw, and the pressing member is provided in plurality, and the plurality of pressing members are arranged at intervals along the circumference of the base and are respectively connected to the tooling frame;

[0022] Each of the clamping members is connected to the third clamping driving member, and the third clamping driving member is connected to the fifth clamping jaw in a transmission manner. A plurality of the clamping members correspond to a plurality of the fifth clamping jaws one by one, and are used to clamp the base between the clamping members and the fifth clamping jaws.

[0023] In combination with the first aspect, the present utility model provides a sixth possible implementation manner of the first aspect, wherein a guiding and positioning member adapted to the clamped component is connected to the tooling rack and / or the grasping device.

[0024] In combination with the first aspect, the present utility model provides a seventh possible implementation manner of the first aspect, wherein a cushion block for abutting against the clamped component is connected to the tooling rack and / or the grasping device.

[0025] In combination with the first aspect, the present utility model provides an eighth possible implementation manner of the first aspect, wherein a pushing device is installed on the tooling rack;

[0026] The pushing device is used to push the clamped component away from the grasping device in a state where the grasping device is released.

[0027] In the second aspect, the drone hangar provided by the present utility model is equipped with the hangar component grasping mechanism described in the first aspect.

[0028] The embodiments of the present utility model bring the following beneficial effects: The quick-change joint is detachably connected to the tooling rack, and the quick-change joint has an interface adapted to the transfer instrument. The tooling racks connected with different grasping devices can be selectively connected to the quick-change joint, and the quick-change joint is connected to the transfer instrument, so as to realize the stable grasping of the hangar components with specific structures.

[0029] To make the above-mentioned objects, features, and advantages of the present utility model more obvious and understandable, the following specific preferred embodiments are given in conjunction with the accompanying drawings and are described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the specific implementation manners of the present utility model or the technical solutions in the related art, the following will briefly introduce the drawings required for use in the description of the specific implementation manners or the related technology. Obviously, the following drawings are some implementation manners of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0031] Figure 1 It is a schematic diagram of the first hangar component grasping mechanism and the inner tank base provided by the embodiment of the present utility model;

[0032] Figure 2 It is a schematic diagram of the first hangar component grasping mechanism provided by the embodiment of the present utility model Figure 1 ;

[0033] Figure 3 It is a schematic diagram of the first hangar component grasping mechanism provided by the embodiment of the present utility model Figure 2 ;

[0034] Figure 4 Schematic diagram of the second aircraft hangar component grasping mechanism and side module provided by an embodiment of the present utility model;

[0035] Figure 5 Schematic diagram of the second aircraft hangar component grasping mechanism provided by an embodiment of the present utility model;

[0036] Figure 6 Schematic diagram of the third aircraft hangar component grasping mechanism and opening / closing mechanism provided by an embodiment of the present utility model;

[0037] Figure 7 Schematic diagram of the third aircraft hangar component grasping mechanism provided by an embodiment of the present utility model;

[0038] Figure 8 Schematic diagram of the quick-change joint of the aircraft hangar component grasping mechanism provided by an embodiment of the present utility model.

[0039] Icon: 1 - Inner tank base; 11 - Base disk body; 12 - Conversion frame; 2 - Side module; 21 - Main body part; 22 - First reinforcing rib; 23 - Second reinforcing rib; 3 - Opening / closing mechanism; 31 - Base; 32 - Flap frame; 100 - Quick-change joint; 101 - Interface; 102 - Clamping part; 103 - Flange; 200 - Tooling rack; 300 - Grasping device; 301 - First protruding part; 302 - Second protruding part; 303 - Third protruding part; 304 - Fourth protruding part; 310 - First clamping member; 311 - First jaw; 312 - Second jaw; 313 - First clamping driving member; 320 - Second clamping member; 321 - Arm; 322 - Third jaw; 323 - Fourth jaw; 324 - Second clamping driving member; 330 - Third clamping member; 331 - Pressing member; 332 - Third clamping driving member; 333 - Fifth jaw; 400 - Guiding and positioning member; 500 - Spacer block; 600 - Pushing device; 700 - Proximity sensor. Detailed implementation manners

[0040] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0041] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used to describe name differences and cannot be understood as indicating or implying relative importance. Physical quantities in the formulas, unless otherwise separately marked, should be understood as the basic quantities of the basic units of the International System of Units, or derived quantities derived from the basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0042] In the description of the present utility model, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected to" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0043] As Figures 1 to 8 shown, the hangar component grasping mechanism provided by the embodiment of the present utility model includes: a quick-change joint 100, a tooling rack 200, and a grasping device 300; the quick-change joint 100 is detachably connected to the tooling rack 200, and the quick-change joint 100 has an interface 101 adapted to the transfer instrument; the grasping device 300 is connected to the tooling rack 200.

[0044] Specifically, clamping portions 102 can be respectively arranged at opposite ends inside the interface 101 for realizing quick clamping in cooperation with the transfer instrument. The quick-change joint 100 can be detachably connected to the tooling rack 200 through a flange 103 and bolts connected to the flange 103, and the quick-change joint 100 and the tooling rack 200 can also be connected by a snap connection. The tooling rack 200 connected with different forms of grasping devices 300 can be selectively connected to the quick-change joint 100, and stable grasping of hangar components with specific structures can be realized.

[0045] In an alternative embodiment, as Figure 1 , Figure 2 and Figure 3As shown, the grasping device 300 is adapted to the inner container base 1, and the inner container base 1 includes: a base disk body 11 and a conversion frame 12 connected to the base disk body 11; the conversion frame 12 protrudes from the surface of the base disk body 11, and the grasping device 300 includes a first clamping member 310 for clamping the conversion frame 12. By clamping the conversion frame 12, a stable grasping of the inner container base 1 can be achieved.

[0046] Further, the first clamping member 310 includes: a first clamping jaw 311, a second clamping jaw 312, and a first clamping driving member 313; the first clamping driving member 313 is installed on the tooling rack 200, and the first clamping jaw 311 and the second clamping jaw 312 are respectively connected to the first clamping driving member 313, and a space for clamping the conversion frame 12 is formed between the first clamping jaw 311 and the second clamping jaw 312.

[0047] Among them, the first clamping driving member 313 can adopt a pneumatic linear slide rail, or a motor can be used to drive a gear, and the linear reciprocating drive can be realized by using the cooperation of the gear and the rack, so as to respectively drive the first clamping jaw 311 and the second clamping jaw 312 to approach or move away from each other. When the first clamping jaw 311 and the second clamping jaw 312 approach each other, the conversion frame 12 can be clamped between the first clamping jaw 311 and the second clamping jaw 312.

[0048] See Figure 3 , the first clamping jaw 311 is provided with a first protrusion 301 and a second protrusion 302, and the first protrusion 301 and the second protrusion 302 are arranged at intervals in the y direction; the second clamping jaw 312 is provided with a third protrusion 303 and a fourth protrusion 304, and the third protrusion 303 and the fourth protrusion 304 are arranged at intervals in the y direction; the first clamping driving member 313 is used to drive the first clamping jaw 311 and the second clamping jaw 312 to approach each other in the x direction perpendicular to the y direction, so as to clamp the conversion frame 12 between the first clamping jaw 311 and the second clamping jaw 312, and one end of the conversion frame 12 is located between the first protrusion 301 and the second protrusion 302, and the other end of the conversion frame 12 is located between the third protrusion 303 and the fourth protrusion 304. Thus, the conversion frame 12 can be limited in the x direction and the y direction respectively, improving the positioning accuracy.

[0049] In an alternative embodiment, as Figure 4 and Figure 5As shown, the grasping device 300 includes a second clamping member 320 for clamping the side mold group 2; the side mold group 2 has a main body 21, a first reinforcing rib 22 and a second reinforcing rib 23, the first reinforcing rib 22 and the second reinforcing rib 23 are arranged at intervals and are respectively connected to the main body 21; the second clamping member 320 includes: an arm 321, a third clamping jaw 322, a fourth clamping jaw 323 and a second clamping driving member 324; the second clamping driving member 324 is installed on the arm 321, and the third clamping jaw 322 and the fourth clamping jaw 323 are respectively connected to the second clamping driving member 324 in transmission connection; in the clamping state, the main body 21 abuts the arm 321, and the third clamping jaw 322 and the fourth clamping jaw 323 press the first reinforcing rib 22 and the second reinforcing rib 23 one by one.

[0050] Specifically, the third clamping jaw 322 and the fourth clamping jaw 323 can be slidably matched or hinged to the arm frame 321, respectively. The second clamping driving member 324 adopts a telescopic cylinder, and its movable end is connected to the third clamping jaw 322 and the fourth clamping jaw 323, so as to drive the third clamping jaw 322 and the fourth clamping jaw 323 to slide or swing, thereby respectively changing the size of the clamping area between the third clamping jaw 322 and the fourth clamping jaw 323 relative to the arm frame 321. In the clamping state, the third clamping jaw 322 and the fourth clamping jaw 323 press the first reinforcing rib 22 and the second reinforcing rib 23 one by one, and make the side of the main body 21 away from the first reinforcing rib 22 and the second reinforcing rib 23 abut against the arm frame 321, thereby realizing the grabbing action of the opposite side module 2.

[0051] In an optional embodiment, if Figure 6 and Figure 7 As shown, the grasping device 300 includes a third clamping member 330 for clamping the opening and closing mechanism 3; the opening and closing mechanism 3 includes: a base 31 and a plurality of petal frames 32, the plurality of petal frames 32 are arranged at intervals around the base 31 and are respectively hinged to the base 31; the third clamping member 330 includes: a clamping member 331, a third clamping driving member 332 and a fifth clamping jaw 333, a plurality of clamping members 331 are provided, and the plurality of clamping members 331 are arranged at intervals along the circumference of the base 31 and are respectively connected to the tooling frame 200; each clamping member 331 is connected to a third clamping driving member 332, the third clamping driving member 332 is transmission-connected to the fifth clamping jaw 333, and the plurality of clamping members 331 correspond one-to-one to the plurality of fifth clamping jaws 333, so as to clamp the base 31 between the clamping member 331 and the fifth clamping jaw 333.

[0052] Among them, the clamping member 331 can use a telescopic cylinder to press the upper surface of the base 31 downward, the fifth clamping jaw 333 slides or is hinged to the bottom of the clamping member 331, and the third clamping drive member 332 uses a stepping motor or a telescopic cylinder to drive the fifth clamping jaw 333. In the clamped state, the fifth clamping jaw 333 can press the lower surface of the base 31, thereby clamping the base 31 between the clamping member 331 and the fifth clamping jaw 333.

[0053] As Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 shown, in an alternative embodiment, the tooling rack 200 and / or the grasping device 300 are connected with a guiding and positioning member 400 adapted to the clamped member.

[0054] Among them, the guiding and positioning member 400 can be configured as structures such as a positioning pin or a positioning block, and the guiding and positioning member 400 can be connected to the tooling rack 200 or the grasping device 300, or the tooling rack 200 and the grasping device 300 can be respectively connected with the guiding and positioning member 400. Before clamping, first make the guiding and positioning member 400 cooperate with the positioning slot hole of the clamped member, so as to ensure the accurate relative position between the grasping mechanism of the hangar parts and the clamped member.

[0055] As Figure 1 , Figure 2 , Figure 3 , Figure 5 and Figure 7 shown, in an alternative embodiment, the tooling rack 200 and / or the grasping device 300 are connected with a cushion block 500 for abutting against the clamped member.

[0056] Among them, the cushion block 500 is made of an elastic or flexible device, and the cushion block 500 can be connected to the tooling rack 200 or the grasping device 300, or the tooling rack 200 and the grasping device 300 can be respectively connected with the cushion block 500. During clamping, the tooling rack 200 can abut against the clamped member through the cushion block 500, or the grasping device 300 can clamp the clamped member through the cushion block 500, realizing the close cooperation between the grasping mechanism of the hangar parts and the clamped member, and avoiding device damage caused by rigid collision.

[0057] As Figure 1 , Figure 2 and Figure 3 shown, in an alternative embodiment, the tooling rack 200 is installed with a pushing device 600; the pushing device 600 is used to push the clamped member to disengage from the grasping device 300 when the grasping device 300 is in the released state. Among them, the pushing device 600 can adopt a cylinder or a hydraulic cylinder, and a pushing end is connected to the movable end. Through the pushing device 600, the clamped member can be pushed to disengage from the grasping device 300 when the grasping device 300 is in the released state, so as to ensure that the clamped member can be released smoothly and quickly.

[0058] As Figure 2 , Figure 5 and Figure 7As shown, in an alternative embodiment, a proximity sensor 700 may be installed on at least one of the tooling rack 200, the grasping device 300, and the spacer block 500. The proximity sensor 700 can detect the distance between the grasping mechanism of the hangar component and the clamped component. The controller can regulate the transfer device according to the signal of the proximity sensor 700, so as to realize the docking between the grasping mechanism of the hangar component and the clamped component.

[0059] The drone hangar provided by the embodiment of the present invention is equipped with the grasping mechanism of the hangar component described in the above embodiment, and has the technical effects of the above grasping mechanism of the hangar component, which will not be elaborated here.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and 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 present invention.

Claims

1. A hangar parts grabbing mechanism, characterized in that: include: A quick-change connector (100), a tooling frame (200) and a gripping device (300); The quick-change connector (100) is detachably connected to the tooling frame (200), and the quick-change connector (100) has an interface (101) adapted to the transport equipment; The grabbing device (300) is connected to the tooling frame (200).

2. The hangar parts grabbing mechanism according to claim 1, characterized in that: The gripping device (300) is adapted to the liner base (1), and the liner base (1) comprises: a base plate (11) and a conversion frame (12) connected to the base plate (11); The gripping device (300) comprises a first clamping member (310) for clamping the conversion frame (12).

3. The hangar parts grabbing mechanism according to claim 2, characterized in that: The first clamping member (310) comprises: a first clamping jaw (311), a second clamping jaw (312) and a first clamping driving member (313); The first clamping driving member (313) is installed on the tooling frame (200), the first clamping jaw (311) and the second clamping jaw (312) are respectively connected to the first clamping driving member (313), and a space for clamping the conversion frame (12) is formed between the first clamping jaw (311) and the second clamping jaw (312).

4. The hangar parts grabbing mechanism according to claim 3, characterized in that: The first clamping jaw (311) is provided with a first protrusion (301) and a second protrusion (302), and the first protrusion (301) and the second protrusion (302) are arranged at intervals along the y direction; The second clamping jaw (312) is provided with a third protrusion (303) and a fourth protrusion (304), and the third protrusion (303) and the fourth protrusion (304) are arranged at intervals along the y direction; The first clamping driving member (313) is used to drive the first clamping jaw (311) and the second clamping jaw (312) to approach each other along the x direction perpendicular to the y direction, so as to clamp the conversion frame (12) between the first clamping jaw (311) and the second clamping jaw (312), and make one end of the conversion frame (12) located between the first protrusion (301) and the second protrusion (302), and the other end of the conversion frame (12) located between the third protrusion (303) and the fourth protrusion (304).

5. The hangar parts grabbing mechanism according to claim 1, characterized in that: The gripping device (300) comprises a second clamping member (320) for clamping the side mold assembly (2); The side mold assembly (2) comprises a main body (21), a first reinforcing rib (22) and a second reinforcing rib (23), wherein the first reinforcing rib (22) and the second reinforcing rib (23) are arranged at intervals and are respectively connected to the main body (21); The second clamping member (320) comprises: an arm (321), a third clamping jaw (322), a fourth clamping jaw (323) and a second clamping driving member (324); The second clamping driving member (324) is installed on the arm frame (321), and the third clamping jaw (322) and the fourth clamping jaw (323) are respectively connected to the second clamping driving member (324) in a transmission manner; In the clamping state, the main body (21) abuts against the arm frame (321), and the third clamping jaw (322) and the fourth clamping jaw (323) press the first reinforcing rib (22) and the second reinforcing rib (23) in a one-to-one correspondence.

6. The hangar parts grabbing mechanism according to claim 1, characterized in that: The gripping device (300) comprises a third clamping member (330) for clamping the opening and closing mechanism (3); The opening and closing mechanism (3) comprises: a base (31) and a plurality of flap frames (32), wherein the plurality of flap frames (32) are arranged at intervals around the base (31) and are respectively hinged to the base (31); The third clamping member (330) comprises: a pressing member (331), a third clamping driving member (332) and a fifth clamping claw (333); a plurality of the pressing members (331) are provided, and the plurality of pressing members (331) are arranged at intervals along the circumference of the base (31) and are respectively connected to the tooling frame (200); Each of the clamping members (331) is connected to the third clamping driving member (332), and the third clamping driving member (332) is connected to the fifth clamping jaw (333) in a transmission manner. The plurality of clamping members (331) and the plurality of fifth clamping jaws (333) correspond one to one, and are used to clamp the base (31) between the clamping members (331) and the fifth clamping jaws (333).

7. The hangar parts grabbing mechanism according to any one of claims 1 to 6, characterized in that: The tooling frame (200) and / or the grasping device (300) are connected to a guide positioning member (400) adapted to the clamped component.

8. The hangar parts grabbing mechanism according to any one of claims 1 to 6, characterized in that: The tooling frame (200) and / or the grasping device (300) are connected with a cushion block (500) for abutting against a clamped component.

9. The hangar parts grabbing mechanism according to any one of claims 1 to 6, characterized in that: The tooling frame (200) is equipped with a push-up device (600); The pushing device (600) is used to push the clamped component to separate from the grasping device (300) when the grasping device (300) is in a released state.

10. A drone hangar, characterized in that: The drone hangar is equipped with the hangar parts grabbing mechanism according to any one of claims 1-9.

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