Grabbing unmanned aerial vehicle and flight distribution system

Abstract

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a grabbing unmanned aerial vehicle and a flight distribution system. The grabbing unmanned aerial vehicle comprises an unmanned aerial vehicle body provided with a supporting frame, and a driving assembly is arranged on the supporting frame; the stress frame comprises a first beam rod and a second beam rod which are oppositely arranged; the first beam rod and the second beam rod penetrate through the two sides of the supporting frame and then are connected with the supporting frame. The two ends of the first beam rod and the two ends of the second beam rod are connected through a first connecting arm and a second connecting arm respectively, and the first beam rod, the second beam rod and the two connecting arms form the stress frame in a surrounding mode. The hoisting piece is arranged on the first connecting arm; and the clamping jaw is arranged on the second connecting arm. According to the embodiment, the load originally acting on the grabbing unmanned aerial vehicle and the load are all transferred to the stress frame, and therefore the grabbing unmanned aerial vehicle can be prevented from being damaged in the distribution process.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned aerial vehicles (UAVs), and in particular to a grabbing UAV and a flight delivery system. Background Art

[0002] As large drones deliver increasingly heavier cargo, their size, wingspan, and noise levels are limited by their operating environment. This makes it difficult for drones to directly access cargo. Instead, a rope retraction assembly, with a gripper at the end of the rope, is typically installed on the drone's underside. In practice, after the drone reaches a certain height above the intended location, the rope and gripper are lowered, and the cargo is then hoisted using the gripper.

[0003] However, fine-tuning the gripper's position requires repositioning the large drone, which can cause significant oscillation between the gripper and the rope, making precise positioning impossible. Furthermore, the rope, while being lowered, is susceptible to wind currents, causing some swaying, which can also prevent the gripper from accurately positioning. To address this technical issue, a gripping drone can be attached to the other end of the rope, equipped with grippers, cameras, and other equipment. However, this approach is subject to weight limitations. Utility Model Content

[0004] In order to solve one of the above technical problems, in a first aspect, the present invention provides a grabbing drone, which comprises:

[0005] The drone body is provided with a support frame, and the support frame is provided with a drive assembly;

[0006] The force-bearing frame includes a first beam and a second beam arranged opposite to each other; the first beam and the second beam respectively pass through both sides of the support frame and are connected to the support frame; the force-bearing frame also includes a first connecting arm and a second connecting arm, and the ends of the first beam and the second beam are respectively connected by the first connecting arm and the second connecting arm;

[0007] a hanging member, disposed on the first connecting arm, the hanging member being configured to be connected to a rope;

[0008] The clamping claw is arranged on the second connecting arm.

[0009] Beneficial Effects: By providing a load-bearing frame, this embodiment can simultaneously withstand the lifting tension of the towing drone, the gravity of the cargo, and the gravity of the grabbing drone during actual operation. In other words, the load and weight originally acting on the grabbing drone itself are completely transferred to the load-bearing frame, thereby preventing damage to the grabbing drone during the delivery process. At the same time, the overall structural strength of the load-bearing frame can be directly strengthened. Since the load of the load-bearing frame is borne by the large towing drone, it does not increase the burden on the grabbing drone. Therefore, the cargo load specification can be increased, and to a certain extent, the delivery efficiency can be further improved.

[0010] In an optional embodiment, the drone body is further provided with a flight control component, and the flight control component includes:

[0011] A housing is provided with a receiving cavity therein; one side of the housing is provided with an opening;

[0012] The flight control board and the electric adjustment board are arranged in the accommodating cavity;

[0013] A heat sink covers the opening; and an inner side of the heat sink contacts the flight control board and / or the electric adjustment board.

[0014] Beneficial Effects: This embodiment, by covering the exposed portion with a heat sink, functions as a housing cover, providing a relatively sealed environment for the flight control board and the electronic control board within the housing, minimizing the risk of external environmental influences on the flight control board and the electronic control board. Furthermore, the heat sink also dissipates heat from the flight control board and the electronic control board. Because the heat sink is in direct contact with the outside world, it improves the heat dissipation efficiency of the flight control board and the electronic control board, ensuring their normal operation.

[0015] In an optional embodiment, a gap is provided between the inner side surface of the heat sink and the flight control board and the electric adjustment board, and the gap is coated with heat dissipation glue.

[0016] Beneficial Effects: This embodiment applies heat dissipation adhesive to the gaps. This adhesive not only improves thermal conductivity, thereby increasing the heat dissipation efficiency of the flight control board and the electronic control board, but also ensures stable contact between the inner side of the heat sink and the flight control board and the electronic control board, preventing loosening of components during operation that could cause the inner side of the heat sink to separate from the flight control board and the electronic control board, thereby ensuring the normal operation of the grasping drone.

[0017] In an optional embodiment, the flight control assembly further includes:

[0018] At least two elastic members are respectively arranged between the bottom surfaces of the flight control board and the electric adjustment board and the inner bottom surface of the shell.

[0019] Beneficial effect: By setting elastic parts, this embodiment can have a certain shock-absorbing effect on the flight control board and the electric adjustment board, thereby preventing the components inside the flight control assembly from being affected by the external environment, ensuring that the grasping drone can be used normally, and reducing the number of maintenance times by technicians.

[0020] In an optional embodiment, the first beam has a hollow structure, and a wiring hole is provided in the first beam.

[0021] In an optional embodiment, the grabbing drone further includes a laser radar, a battery, and a power distribution module, wherein the battery, the power distribution module, the flight control component, and the laser radar are sequentially arranged on the support frame from top to bottom, and the battery, the flight control component, and the laser radar are electrically connected to the power distribution module respectively;

[0022] The wiring holes include a first wiring hole and a second wiring hole, the first wiring hole is located near the laser radar, and the second wiring hole is located near the power distribution module.

[0023] Beneficial Effects: This embodiment arranges the battery, power distribution module, flight control unit, and lidar on the support frame in a top-down order. During operation, the power supply wires can utilize the hollow structure of the first beam to supply power from the power distribution module to the lidar. This prevents the power supply wires from interfering with the drone's interior space, ensuring the overall cleanliness of the drone. Furthermore, during use, the power supply wires are protected from external environmental influences, ensuring normal operation of the drone.

[0024] In an optional embodiment, the grabbing drone is a rotary-wing drone, which includes the support frame and a rotor arm located around the support frame, the battery and the power distribution module are located above the support frame, and the flight control component and the laser radar are located below the support frame.

[0025] In an optional embodiment, the clamping jaw comprises:

[0026] a fixing frame, arranged on the second connecting arm;

[0027] A driving device, arranged on the fixing frame;

[0028] a first mechanical arm, a first end of which is disposed on the fixing frame, a second end of which is provided with a first locking portion, the first end of the first mechanical arm being engaged with a gear of the driving device;

[0029] a second mechanical arm, wherein the first end is provided on the fixing frame, the second end is provided with a second locking portion, and the first end of the first mechanical arm is gear-engaged with the first end of the second mechanical arm;

[0030] A self-locking mechanism is provided on the second locking portion. When the first locking portion and the second locking portion overlap to grasp a target object, the self-locking mechanism locks the first locking portion and the second locking portion under the action of the gravity of the target object. The self-locking mechanism releases the first locking portion and the second locking portion after the gravity of the target object disappears.

[0031] In an optional embodiment, the first locking portion has a first through hole, the second locking portion has a second through hole, and the self-locking mechanism includes:

[0032] a lock pin slidably disposed in the first through hole, wherein the lock pin partially extends into the second through hole under the action of the gravity of the target object;

[0033] a contact portion, provided on the lock pin and located at an end of the lock pin away from the first through hole;

[0034] The spring is arranged in the first through hole and sleeved on the locking pin.

[0035] In an optional embodiment, the end surface of the contact portion that contacts the target object is a curved structure, and along the vertical direction, the middle portion of the curved structure is lower than the edge portions of the curved structure close to the first robotic arm and the second robotic arm.

[0036] In an optional embodiment, the grabbing drone further includes a camera, and the camera is disposed on the fixing frame.

[0037] In a second aspect, the present invention further provides a flying delivery system, which includes: a towing drone and a grabbing drone as described in any of the above embodiments, wherein the towing drone and the load-bearing frame of the grabbing drone are connected by a rope. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in related technologies, the following briefly introduces the drawings required for use in the specific implementation methods or related technical descriptions. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0039] Figure 1 A perspective view of a grabbing drone in a first direction according to an embodiment of the present utility model;

[0040] Figure 2 A perspective view of a grabbing drone in a second direction according to an embodiment of the present utility model;

[0041] Figure 3 for Figure 2 A partial enlarged schematic diagram;

[0042] Figure 4 This is a three-dimensional diagram of a grabbing drone in a third direction according to an embodiment of the present utility model;

[0043] Figure 5 for Figure 4 Side view of;

[0044] Figure 6 for Figure 5 The diagram showing the flight control components;

[0045] Figure 7 for Figure 6 A partial enlarged schematic diagram of B in the middle;

[0046] Figure 8 for Figure 7 A schematic diagram of the internal components of the flight control system;

[0047] Figure 9 This is a schematic diagram of a gripper for grabbing a drone in a first position according to an embodiment of the present invention;

[0048] Figure 10 This is a schematic diagram of the clamping jaws in the locking position in the embodiment of the present invention;

[0049] Figure 11 This is a schematic diagram of the clamping jaws in the locked position in an embodiment of the present invention;

[0050] Figure 12 This is a schematic diagram of the gripper for grabbing a drone in the second position according to an embodiment of the present invention;

[0051] Figure 13 This is a schematic diagram of grabbing a drone in preparation for hoisting an object in an embodiment of the present utility model;

[0052] Figure 14 This is a schematic diagram of grabbing objects hoisted by a drone in an embodiment of the present utility model.

[0053] Description of reference numerals:

[0054] 1. UAV body; 11. Support frame; 12. Drive assembly; 13. Flight control assembly; 131. Housing; 132. Seal; 133. Flight control board; 134. Electric adjustment board; 135. Heat sink; 136. Heat dissipation adhesive; 137. Elastic member; 14. Battery; 15. Power distribution module; 16. LiDAR; 17. Rotor arm; 18. Protective cover

[0055] 2. Force-bearing frame; 21. First beam; 22. Second beam; 23. First connecting arm; 24. Wiring hole; 25. Second connecting arm;

[0056] 3. Lifting parts;

[0057] 4. Gripper; 41. Fixing frame; 42. Driving device; 43. First robotic arm; 431. First through hole; 44. Second robotic arm; 441. Second through hole; 45. Self-locking mechanism; 451. Locking pin; 452. Contact portion; 453. Spring; 46. Camera;

[0058] 5. Grasping drone; 6. Rope; 7. Photovoltaic cleaning robot. DETAILED DESCRIPTION

[0059] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, 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 embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0060] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating positions or relationships, are based on the positions or relationships shown in the accompanying drawings and are intended solely to facilitate the description of this utility model and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0061] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal connections between two components; they may refer to wireless connections or wired connections. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0062] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0063] As large drones deliver increasingly heavier cargo, their size, wingspan, and noise levels are limited by their operating environment. This makes it difficult for drones to directly access cargo. Instead, a rope retraction assembly, with a gripper at the end of the rope, is typically installed on the drone's underside. In practice, after the drone reaches a certain height above the intended location, the rope and gripper are lowered, and the cargo is then hoisted using the gripper.

[0064] However, fine-tuning the gripper's position requires repositioning the large drone, which can cause significant oscillation between the gripper and the rope, making precise positioning impossible. Furthermore, as the rope is lowered, it's susceptible to wind currents, causing some swaying, which can also prevent the gripper from accurately positioning. To address this technical issue, existing technologies can connect a gripping drone to the other end of the rope, equipped with grippers, cameras, and other equipment. However, these drones are subject to load limitations.

[0065] In view of this, the present invention provides a grabbing drone and flight delivery system, Figures 1 to 14 , describing the embodiments of the present utility model.

[0066] According to an embodiment of the present invention, on one hand, a grabbing drone 5 is provided, which includes a drone body 1, a force-bearing frame 2, a hoisting member 3 and a clamp 4.

[0067] Specifically, in this embodiment, the drone body 1 is provided with a support frame 11, and a drive assembly 12 is provided on the support frame 11. The support frame 11 is used to carry all the equipment on the entire drone and is also the structural basis of the entire drone.

[0068] Furthermore, in this embodiment, the force frame 2 includes a first beam 21 and a second beam 22 that are arranged opposite to each other, that is, the first beam 21 and the second beam 22 can be arranged in parallel. Specifically, the first beam 21 and the second beam 22 pass through the two sides of the support frame 11 in the vertical direction, and are both connected to the support frame 11. In addition, the force frame 2 also includes a first connecting arm 23 and a second connecting arm 25, and the two ends of the first beam 21 and the second beam 22 are connected by the first connecting arm 23 and the second connecting arm 25, respectively. Figure 12 As shown, the first connecting arm 23 is arranged at the top of the first beam 21 and the second beam 22, and the second connecting arm 25 is arranged at the bottom of the first beam 21 and the second beam 22, so that the first beam 21, the second beam 22, the first connecting arm 23 and the second connecting arm 25 surround and form the force-bearing frame 2.

[0069] Furthermore, in this embodiment, the hoisting member 3 is provided on the first connecting arm 23, and the hoisting member 3 is used to connect one end of the rope 6, and the other end of the rope 6 is connected to the large UAV, thereby realizing the transportation of the large UAV.

[0070] Furthermore, in this embodiment, the clamping claw 4 is provided on the second connecting arm 25. The clamping claw 4 is used to grab objects, for example, it can be a hook on goods, a shelf, or other types of objects.

[0071] With this arrangement, the present embodiment provides a force-bearing frame 2. During actual operation, the force-bearing frame 2 can simultaneously withstand the lifting tension of the towing drone, the gravity of the object, and the gravity of the grabbing drone 5. In other words, the load and weight originally acting on the grabbing drone 5 itself are completely transferred to the force-bearing frame 2, thereby preventing damage to the grabbing drone 5 during the delivery process. At the same time, the overall structural strength of the force-bearing frame 2 can be directly strengthened. Since the load of the force-bearing frame 2 is borne by the rope 6, it does not increase the burden on the grabbing drone 5, thereby increasing the cargo load capacity.

[0072] In this embodiment, a protective cover 18 is also provided on the force-bearing frame 2. The protective cover 18 has an annular mesh structure and is located above the drive assembly 12. The protective cover 18 can completely cover the drive assembly 12, thereby preventing the rope 6 from being entangled on the drive assembly 12 when it is loose, and can provide a certain protective effect on the drive assembly 12.

[0073] Of course, this embodiment is only an example of the overall structural type of the protective cover 18, but it is not limited to this. Those skilled in the art can make changes according to actual conditions to achieve the same technical effect.

[0074] Furthermore, in an optional embodiment, as Figures 1 to 8 As shown, the UAV body 1 is further provided with a flight control assembly 13 , which includes a housing 131 , a flight control board 133 , an electric adjustment board 134 and a heat sink 135 .

[0075] Specifically, in this embodiment, the housing 131 has an interior housing cavity, and an opening is provided on one side of the housing 131. The flight control board 133 and the electric adjustment board 134 are disposed in the housing cavity, and the heat sink 135 covers the opening, with the inner side of the heat sink 135 in contact with the flight control board 133 and / or the electric adjustment board 134.

[0076] Of course, in order to further improve the heat dissipation capacity of the heat sink 135, multiple sets of heat dissipation fins can be set on the outer side of the heat sink 135. The multiple sets of heat dissipation fins and the heat sink 135 can be made of the same thermally conductive material. The multiple sets of heat dissipation fins can significantly increase the heat dissipation area of ​​the heat sink 135.

[0077] Furthermore, the housing 131 is provided with through holes for wiring. The through holes can be used to pass wires, which can be used to establish a wired connection between the flight control assembly 13 and other working modules of the grabbing drone 5. An annular sealing strip can be provided in the through hole. The annular sealing strip and the wire have an interference fit. When the wire passes through the annular sealing strip, the annular sealing strip can fix the wire and also seal the wire and the through hole, thereby protecting the flight control board 133 and the electric adjustment board 134 from the external environment as much as possible.

[0078] With this arrangement, in this embodiment, by covering the exposed portion with heat sink 135, heat sink 135 can function as a cover for housing 131, providing a relatively sealed environment for flight control board 133 and electric control board 134 within housing 131, minimizing the impact of the external environment on flight control board 133 and electric control board 134. Furthermore, heat sink 135 can dissipate heat from flight control board 133 and electric control board 134. Because heat sink 135 is in direct contact with the outside world, it can improve the heat dissipation efficiency of flight control board 133 and electric control board 134, ensuring their normal operation.

[0079] Furthermore, in an optional embodiment, a gap is provided between the inner side surface of the heat sink 135 and the flight control board 133 and the electric adjustment board 134 , and a heat dissipation glue 136 is coated in the gap.

[0080] With this arrangement, this embodiment applies heat dissipation adhesive 136 in the gap. This adhesive not only improves thermal conductivity, thereby increasing the heat dissipation efficiency of the flight control board 133 and the electric adjustment board 134, but also ensures stable contact between the inner side of the heat sink 135 and the flight control board 133 and the electric adjustment board 134, preventing loosening of parts during operation that could cause the inner side of the heat sink 135 to separate from the flight control board 133 and the electric adjustment board 134, thereby ensuring normal operation of the grasping drone 5.

[0081] Furthermore, in an optional embodiment, the flight control assembly 13 also includes a seal 132, which is arranged on the circumference of the inner edge of the opening. A sealing groove is provided on the circumference of the outer edge of the heat sink 135, and when the heat sink 135 covers the opening, the sealing groove abuts against the seal 132. The seal 132 can be a rubber seal ring or a silicone seal ring. Of course, this embodiment is only an example of the type of seal 132, but it does not limit it. Those skilled in the art can make changes according to actual conditions as long as the same technical effect can be achieved.

[0082] In this way, the present embodiment can improve the overall sealing effect of the flight control assembly 13 by providing the seal 132, thereby preventing the components inside the flight control assembly 13 from being affected by the external environment, ensuring that the grasping drone 5 can be used normally, and reducing the number of maintenance times by technicians.

[0083] Furthermore, in an optional embodiment, the flight control assembly 13 further includes at least two elastic members 137, such as Figure 8 As shown, the elastic member 137 is respectively arranged between the bottom surfaces of the flight control board 133 and the electric adjustment board 134 and the inner bottom surface of the shell 131.

[0084] In this way, the present embodiment can provide a certain shock-absorbing effect on the flight control board 133 and the electric adjustment board 134 by providing the elastic member 137, thereby preventing the components inside the flight control assembly 13 from being affected by the external environment, ensuring that the grabbing drone 5 can be used normally, and reducing the number of maintenance times by technicians.

[0085] Furthermore, in an optional embodiment, the first beam 21 has a hollow structure, and a wiring hole 24 is provided in the first beam 21 .

[0086] As an alternative embodiment, the first beam 21 and the second beam 22 are hollow structures, and wiring holes 24 are formed on both the first beam 21 and the second beam 22 .

[0087] Furthermore, in an optional embodiment, the grabbing drone 5 further includes a laser radar 16, a battery 14, and a power distribution module 15. The battery 14, power distribution module 15, flight control unit 13, and laser radar 16 are sequentially arranged on the support frame 11 from top to bottom, and the battery 14, flight control unit 13, and laser radar 16 are electrically connected to the power distribution module 15. The power distribution module 15 distributes the power of the battery 14 to the power control board 134 in the flight control unit 13 and the laser radar 16.

[0088] Among them, the wiring hole 24 includes a first wiring hole and a second wiring hole. The first wiring hole is located near the laser radar 16, and the second wiring hole is located near the power distribution module 15, so that the power distribution module 15 can power the laser radar 16, which not only hides the cables but also reduces the length of the cables.

[0089] Furthermore, in an optional embodiment, the grabbing drone 5 is a rotary-wing drone, which includes the support frame 11 and rotor arms 17 located around the support frame 11, with rotors provided on the rotor arms 17. In this embodiment, four rotor arms 17 are provided, and the four rotor arms 17 and the support frame 11 form a "cross" structure.

[0090] Furthermore, the battery 14 and power distribution module 15 are located above the support frame 11, while the flight control unit 13 and lidar 16 are located below the support frame 11. This balances the weight on the support frame 11 and prevents the drone's center of gravity from being too high or too low. The lidar 16 is located below the support frame 11, while the protective cover 18 is located above the rotor arm 17, which reduces the difficulty of the lidar 16 in building maps.

[0091] Furthermore, in an optional embodiment, the clamping jaw 4 includes a fixing frame 41 , a driving device 42 , a first mechanical arm 43 , a second mechanical arm 44 and a self-locking mechanism 45 .

[0092] Specifically, in this embodiment, a fixing frame 41 is provided on the second connecting arm 25, and a driving device 42 is provided on the fixing frame 41. The first end of a first robotic arm 43 is provided on the fixing frame 41, and a first locking portion is provided on the second end of the first robotic arm 43. The first end of the first robotic arm 43 is gear-engaged with the driving device 42. The first end of a second robotic arm 44 is provided on the fixing frame 41, and a second locking portion is provided on the second end of the second robotic arm 44. The first end of the first robotic arm 43 is gear-engaged with the first end of the second robotic arm 44. The driving device 42 is used to control the opening and closing of the first robotic arm 43 and the second robotic arm 44, thereby achieving the overlap and separation of the first locking portion and the second locking portion.

[0093] Furthermore, a self-locking mechanism 45 is provided on the second locking part. When the first locking part and the second locking part overlap to grasp a target object, the self-locking mechanism 45 locks the first locking part and the second locking part under the action of the gravity of the target object. The self-locking mechanism 45 releases the first locking part and the second locking part after the action of the gravity of the target object disappears. Under the driving action of the driving device 42, the first robotic arm 43 and the second robotic arm 44 are separated, so that the first locking part and the second locking part are separated.

[0094] In actual use, after gripping an object using the first and second locking parts, the gripper 4 lifts the object. The object's gravity locks the self-locking mechanism 45 to the first and second locking parts. After gripping the object using the first and second locking parts, the gravity of the object on the self-locking mechanism 45 disappears, and the self-locking mechanism 45 releases the first and second locking parts. The target objects include, but are not limited to, photovoltaic cleaning robots 7 and unmanned transport vehicles.

[0095] Because the gripper 4 is equipped with a self-locking mechanism 45, after the first and second mechanical arms 43 and 44 grasp an object, the object's gravity exerts pressure on the self-locking mechanism 45, causing the self-locking mechanism 45 to directly lock the first and second locking portions, thereby firmly gripping the object and effectively preventing the object from falling from mid-air and causing damage to the object. Furthermore, after the gripper 4 transports the object to a designated location and places it there, the object no longer exerts pressure on the self-locking mechanism 45, causing the self-locking mechanism 45 to automatically unlock the first and second locking portions, facilitating the gripping of the next object.

[0096] Furthermore, in an optional embodiment, the first locking portion has a first through hole 431 , the second locking portion has a second through hole 441 , and the self-locking mechanism 45 includes a locking pin 451 , a contact portion 452 and a spring 453 .

[0097] Specifically, a locking pin 451 is slidably disposed within the first through-hole 431. Under the weight of the object, the locking pin 451 partially extends into the second through-hole 441, thereby locking the first and second locking portions together. A contact portion 452 is disposed on the locking pin 451 at the end thereof distal from the first through-hole 431. A spring 453 is disposed within the first through-hole 431 and sleeved onto the locking pin 451.

[0098] In this embodiment, when the first locking portion and the second locking portion overlap, the grasping drone 5 moves upward, causing the contact portion 452 to contact the target object. The contact portion 452 supports the target object. Under the action of the target object's gravity, the contact portion 452 and the locking pin 451 move downward, and the locking pin 451 is inserted into the second through hole 441, thereby achieving self-locking of the first and second locking portions, and at this time, squeezing the spring 453. When the target object moves into place, the target object no longer exerts pressure on the contact portion 452. The contact portion 452 and the locking pin 451 move upward under the action of the spring 453, returning to their initial position, thereby unlocking the first and second locking portions.

[0099] Furthermore, in an optional embodiment, as Figures 9 to 11As shown, the end surface of the contact portion 452 that contacts the target object is a curved surface structure, and along the vertical direction, the middle portion of the curved surface structure is lower than the edge portions of the curved surface structure near the first robotic arm 43 and the second robotic arm 44. This allows the target object to be more stably positioned on the upper surface of the contact portion 452, preventing the target object from shaking and improving the stability of the target object transportation.

[0100] Furthermore, in an optional embodiment, the grabbing drone 5 further includes a camera 46 , which is disposed on the fixing frame 41 . The camera 46 is in communication with the flight control assembly 13 .

[0101] In the second aspect, the present invention also provides a flight delivery system, such as Figure 13 and Figure 14 As shown, the flying delivery system includes: a towing drone (not shown) and a grabbing drone 5 as described in any of the above embodiments, wherein the towing drone is connected to the force-bearing frame 2 of the grabbing drone 5 by a rope 6. The grabbing drone 5 can be used to grab the photovoltaic cleaning robot 7 to drop the photovoltaic cleaning robot 7 onto the photovoltaic panel, or to retrieve the photovoltaic cleaning robot 7 from the photovoltaic panel to a charging warehouse.

[0102] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A grabbing drone, characterized in that: The grabbing drone (5) comprises: A drone body (1) is provided with a support frame (11), and a drive assembly (12) is provided on the support frame (11); A load-bearing frame (2) comprises a first beam (21) and a second beam (22) arranged opposite to each other; the first beam (21) and the second beam (22) respectively pass through both sides of the support frame (11) and are connected to the support frame (11); the load-bearing frame (2) further comprises a first connecting arm (23) and a second connecting arm (25), and the two ends of the first beam (21) and the second beam (22) are respectively connected by the first connecting arm (23) and the second connecting arm (25); A hanging member (3) is provided on the first connecting arm (23), and the hanging member (3) is configured to be connected to a rope (6); The clamping claw (4) is arranged on the second connecting arm (25).

2. The grabbing drone according to claim 1, characterized in that: The drone body (1) is further provided with a flight control component (13), and the flight control component (13) comprises: A housing (131) is provided with a receiving cavity therein; one side of the housing (131) is provided with an opening; A flight control board (133) and an electric adjustment board (134) are arranged in the accommodating cavity; A heat sink (135) covers the opening; and the inner side of the heat sink (135) contacts the flight control board (133) and / or the electric adjustment board (134).

3. The grabbing drone according to claim 2, characterized in that: A gap is provided between the inner side surface of the heat sink (135) and the flight control board (133) and the electric adjustment board (134), and a heat dissipation glue (136) is coated in the gap.

4. The grabbing drone according to claim 3, characterized in that: The flight control component (13) further includes: At least two elastic members (137) are respectively arranged between the bottom surfaces of the flight control board (133) and the electric adjustment board (134) and the inner bottom surface of the shell (131).

5. The grabbing drone according to any one of claims 1 to 4, characterized in that: The first beam (21) has a hollow structure, and a wiring hole (24) is provided on the first beam (21).

6. The grabbing drone according to claim 5, characterized in that: The grabbing drone (5) further comprises a laser radar (16), a battery (14) and a power distribution module (15), wherein the battery (14), the power distribution module (15), the flight control component (13) and the laser radar (16) are sequentially arranged on the support frame (11) from top to bottom, and the battery (14), the flight control component (13) and the laser radar (16) are electrically connected to the power distribution module (15) respectively; The wiring hole (24) includes a first wiring hole and a second wiring hole, the first wiring hole is located near the laser radar (16), and the second wiring hole is located near the power distribution module (15).

7. The grabbing drone according to claim 6, characterized in that: The grabbing drone (5) is a rotary-wing drone, comprising a support frame (11) and a rotor arm (17) located around the support frame (11); the battery (14) and the power distribution module (15) are located above the support frame (11); and the flight control component (13) and the laser radar (16) are located below the support frame (11).

8. The grabbing drone according to any one of claims 1 to 4, characterized in that: The clamping jaw (4) comprises: A fixing frame (41) is arranged on the second connecting arm (25); A driving device (42) is arranged on the fixing frame (41); a first mechanical arm (43), a first end of which is disposed on the fixing frame (41), a second end of which is provided with a first locking portion, the first end of the first mechanical arm (43) being engaged with a gear of the driving device (42); a second mechanical arm (44), the first end of which is arranged on the fixing frame (41), the second end of which is provided with a second locking portion, the first end of the first mechanical arm (43) being engaged with the first end gear of the second mechanical arm (44); A self-locking mechanism (45) is provided on the second locking portion. When the first locking portion and the second locking portion overlap to grasp a target object, the self-locking mechanism (45) locks the first locking portion and the second locking portion under the action of the gravity of the target object. The self-locking mechanism (45) releases the first locking portion and the second locking portion after the action of the gravity of the target object disappears.

9. The grabbing drone according to claim 8, characterized in that: The first locking portion has a first through hole (431), the second locking portion has a second through hole (441), and the self-locking mechanism (45) includes: a locking pin (451) slidably disposed in the first through hole (431), wherein under the action of the gravity of the target object, the locking pin (451) partially extends into the second through hole (441); a contact portion (452) provided on the locking pin (451) and located at an end of the locking pin (451) away from the first through hole (431); The spring (453) is arranged in the first through hole (431) and sleeved on the locking pin (451).

10. The grabbing drone according to claim 9, characterized in that: The end surface of the contact portion (452) that contacts the target object is a curved surface structure, and along the vertical direction, the middle portion of the curved surface structure is lower than the edge portions of the curved surface structure close to the first robotic arm (43) and the second robotic arm (44).

11. The grabbing drone according to claim 8, characterized in that: The grabbing drone (5) further includes a camera (46), and the camera (46) is arranged on the fixing frame (41).

12. A flight delivery system, characterized in that: include: A traction drone and a grabbing drone (5) according to any one of claims 1 to 11, wherein the traction drone and the force-bearing frame (2) of the grabbing drone (5) are connected via a rope (6).

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