Paw device for grabbing wings of unmanned aerial vehicle

Abstract

The utility model discloses a paw device for grabbing unmanned aerial vehicle wings, which comprises a bottom plate, a mounting carrier, a plurality of pneumatic pressing mechanisms, a plurality of supporting pins distributed on the surface of the bottom plate, a plurality of supporting pins distributed at the pneumatic pressing mechanisms and configured to enable the pressing ends of the pneumatic pressing mechanisms to move towards the supporting pins so as to press the unmanned aerial vehicle wings on the supporting pins. And the plurality of elastic detection mechanisms are distributed on the surface of the bottom plate. According to the paw device for grabbing the wing of the unmanned aerial vehicle, the elastic detection mechanisms are adopted to detect the position of the wing, a mode of arranging a plurality of supporting points and pressing points is adopted, after the position is reached, an air cylinder of the pneumatic pressing mechanism is started, the wing is clamped and fixed, wing attaching points are made of non-metal wear-resistant materials, and the wing attaching points are made of non-metal wear-resistant materials. And even under the condition of larger stress, the completeness of the surface of the wing and the non-deformation of the structure can be ensured.

Description

TECHNICAL FIELD

[0001] The utility model belongs to hand claw device technical field, concretely relates to a hand claw device for grabbing unmanned aerial vehicle wing. BACKGROUND

[0002] Unmanned aerial vehicle is the new type of aircraft of future development, and has been widely used in military, civil and commercial fields. Because the appearance structure of large unmanned aerial vehicle wing is complex, the length size is generally from 0.5m to 5m, and the weight is up to 300kg. In the traditional processing technology, the artificial feeding and discharging are relied on.

[0003] The wing of unmanned aerial vehicle is processed on a large vertical machining center. Because of its huge volume and complex appearance structure, the carrying and machine feeding and discharging actions become slow. There are great problems in manufacturing large unmanned aerial vehicle wing. It is very inconvenient for the artificial clamping in the machine tool. When to start the pressing mechanism completely depends on the skill level of the operator. It often needs 3-5 hours of auxiliary time to process a workpiece. These problems not only affect the manufacturing cost and production efficiency, but also affect the quality and stability of the product. Therefore, the research and development of an industrial robot intelligent manufacturing system with advanced functions have become a necessary measure to optimize the production process and upgrade the manufacturing industry. CONTENT OF THE UTILITY MODEL

[0004] The utility model aims at providing a hand claw device for grabbing unmanned aerial vehicle wing to solve the problems in the above background technology.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a hand claw device for grabbing unmanned aerial vehicle wing, comprising

[0006] A bottom plate is configured to install a carrier.

[0007] A plurality of pneumatic pressing mechanisms are distributed on the surface of the bottom plate.

[0008] A plurality of supporting pins are distributed at the pneumatic pressing mechanisms and are configured to move the pressing end of the pneumatic pressing mechanism to the supporting pin to press the unmanned aerial vehicle wing on the supporting pin.

[0009] A plurality of elastic detection mechanisms are distributed on the surface of the bottom plate.

[0010] Preferably, the edge of the bottom plate is 90° bent to form a protective shell.

[0011] Preferably, in any of the above schemes, the protective shell is connected with the suction cup connecting plate, and the connected bottom plate and suction cup connecting plate are 90°.

[0012] Preferably, in any of the above schemes, the lower surface of the suction cup connecting plate is provided with a plurality of suction cups.

[0013] Preferably, in any of the above solutions, the bottom plate is further provided with a plurality of positioning pins.

[0014] Preferably, in any of the above solutions, the pneumatic pressing mechanism comprises a cylinder fixed on the bottom plate, a hinge shaft base installed on the output end of the cylinder, one end of the hinge shaft base being rotatably connected with a pressing block, the other end of the pressing block being a pressing end, a connecting block being fixed on the cylinder, the connecting block being connected with the pressing block through a connecting hinge plate, and the connecting hinge plate being rotatably connected with the connecting block and the pressing block.

[0015] Preferably, in any of the above solutions, the elastic detection mechanism comprises a copper sleeve installed on the bottom plate, the copper sleeve penetrating through the bottom plate, a detection rod being slidably arranged in the copper sleeve, both ends of the detection rod extending out of the copper sleeve, one end of the detection rod being provided with an inductive block, the other end of the detection rod being provided with a flat washer, a recess being arranged above the flat washer, a stop washer being arranged in the recess for limiting the flat washer, a spring being arranged between the flat washer and the copper sleeve, both ends of the spring being fixed on the flat washer and the copper sleeve respectively.

[0016] Preferably, in any of the above solutions, a proximity switch is installed on the bottom plate at the position of the inductive block.

[0017] The technical effects and advantages of the present application are as follows: the paw device for grabbing the wings of the unmanned aerial vehicle adopts a plurality of elastic detection mechanisms to detect the position of the wings, a plurality of supporting points and pressing points are arranged, when the position is reached, the cylinder of the pneumatic pressing mechanism is started to drive the pressing block, thereby realizing accurate clamping and fixing of the wings, and the non-metallic wear-resistant material is selected for the wing fitting point, so that the integrity of the wing surface and the structure are not deformed even under large stress. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 FIG. 1 is a structural schematic view of the present application;

[0019] Figure 2 FIG. 2 is another structural schematic view of the present application from another perspective;

[0020] Figure 3 FIG. 3 is an enlarged view of structure A in the present application; Figure 2

[0021] Figure 4 FIG. 4 is a structural schematic view of the present application from the reverse perspective;

[0022] Figure 5 FIG. 5 is a front view of the present application;

[0023] Figure 6 FIG. 6 is a structural schematic view of the elastic detection mechanism of the present application.

[0024] ​In the figure: 1, the bottom plate; 2, the protective cover; 3, the pneumatic pressing mechanism; 31, the air cylinder; 32, the hinge shaft base; 33, the pressing block; 34, the connecting block; 35, the connecting hinge plate; 4, the elastic detection mechanism; 41, the detection rod; 42, the check ring; 43, the flat washer; 44, the copper sleeve; 45, the sensing block; 6, the positioning pin; 7, the suction cup connecting plate; 8, the suction cup; 9, the support pin; 10, the proximity switch. DETAILED DESCRIPTION

[0025] The specific embodiments of the present application will be further described below with reference to the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present application, but does not constitute a limitation on the present application. In addition, the technical features involved in each embodiment of the present application described below can be combined with each other as long as they do not conflict with each other.

[0026] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0027] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features.

[0028] The present application provides a hand claw device as shown in Figures 1-6 for grasping the wings of a UAV, comprising

[0029] The bottom plate 1 is designed as a polygon, configured as a mounting carrier, and the front and back surfaces thereof can be used to mount various components. The front surface is the surface on which the pneumatic pressing mechanism 3 is mounted, and the other surface is the back surface. The edge of the bottom plate 1 is bent 90° towards the back surface to form the protective cover 2. The bottom of the protective cover 2 is fixedly connected with the suction cup connecting plate 7, and the connected bottom plate 1 and suction cup connecting plate 7 are at an angle of 90°. Four suction cups 8 are mounted on the lower surface of the suction cup connecting plate 7.

[0030] Six pneumatic pressing mechanisms 3, as shown in Figure 5The position shown is installed on the surface of the base plate 1, the specific components of the pneumatic pressing mechanism 3 include a cylinder 31 bolted on the base plate 1, a hinge shaft seat 32 is installed on the output end of the cylinder 31, the hinge shaft seat 32 moves up and down with the output end of the cylinder 31, and the hinge shaft seat 32 is U-shaped, one end of the pressing block 33 is rotatably connected to the upper part of the U-shaped hinge shaft seat 32 through a shaft shoulder bolt, a connecting block 34 is fixed on the cylinder 31, the connecting block 34 is connected with the pressing block 33 through a connecting hinge plate 35, and the connecting hinge plate 35 is rotatably connected with the connecting block 34 and the pressing block 33 through shaft shoulder bolts, the connecting hinge plate 35 is arc-shaped, the other end of the pressing block 33 is a pressing end, a supporting pin 9 is installed at each pressing end, and the supporting pin 9 is fixed on the base plate 1; when the cylinder 31 is opened, the hinge shaft seat 32 is pushed to move upward, the pressing end approaches the supporting pin 9, the distance between them becomes smaller, and the wing is clamped; the state at this time is shown in FIG. 7C, and the state in FIG. 7B is an open state. Figure 3

[0031] The four elastic detection mechanisms 4 are installed on the surface of the base plate 1 as shown in FIG. 6. Figure 5 The specific components of the elastic detection mechanism 4 include a copper sleeve 44 bolted on the base plate 1, the copper sleeve 44 penetrates through the base plate 1 and is hollow inside, a detection rod 41 is arranged to penetrate through the copper sleeve 44 and slide relative to the copper sleeve 44, both ends of the detection rod 41 extend out of the copper sleeve 44, one end of the detection rod 41 is provided with a sensing block 45, a proximity switch 10 is installed at the position of the sensing block 45, the proximity switch 10 is fixed on the opposite side of the base plate 1 through a support, the other end of the detection rod 41 is provided with a flat washer 46, a recess is arranged on the side of the detection rod 41 where the flat washer 46 is located, a check ring 42 is limited in the recess for limiting the flat washer 46, so that the flat washer 46 cannot fall off from the other end of the detection rod 41, a spring 43 is installed between the flat washer 46 and the copper sleeve 44, and both ends of the spring 43 are fixed on the flat washer 46 and the copper sleeve 44 respectively.

[0032] The two positioning pins 6 are installed on the surface of the base plate 1 as shown in FIG. 8. Figure 5

[0033] All the contact points of the unmanned aerial vehicle wings described above are made of non-metallic wear-resistant materials.

[0034] During use, when the unmanned aerial vehicle wing approaches the front of the base plate 1, the detection rod 41 of the elastic detection mechanism 4 is pushed inward when it is contacted, at this time the flat washer 46 of the detection rod 41 compresses the spring 43, when the sensing block 45 on the detection rod 41 is located at the proximity switch 10, the unmanned aerial vehicle wing stops approaching, the cylinder 31 of the pneumatic pressing mechanism 3 is started, the output end of the cylinder 31 pushes the hinge shaft seat 32 to move upward, the pressing end approaches the supporting pin 9, and finally the unmanned aerial vehicle wing is clamped to complete the grabbing. ​​

[0035] Although the embodiments of the utility model have been shown and described above, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the utility model, and the ordinary skilled in the art can change, modify, replace and transform the above-mentioned embodiments within the scope of the utility model.

Claims

1. A gripper device for grasping drone wings, characterized by: include A base plate (1) configured as a mounting carrier; A plurality of pneumatic pressing mechanisms (3) are distributed on the surface of the base plate (1); A plurality of support pins (9) are distributed at the pneumatic pressing mechanism (3), and are configured such that the pressing end of the pneumatic pressing mechanism (3) moves toward the support pins (9) to press the drone wings onto the support pins (9); A plurality of elastic detection mechanisms (4) are distributed on the surface of the bottom plate (1).

2. The gripper device for grasping drone wings according to claim 1, characterized in that: The edge of the bottom plate (1) is bent at 90 degrees to form a protective cover shell (2).

3. The gripper device for grasping drone wings according to claim 2, characterized in that: The shield shell (2) is connected to the suction cup connecting plate (7), and the bottom plate (1) and the suction cup connecting plate (7) are at an angle of 90 degrees after the connection.

4. The gripper device for grasping the wings of a drone according to claim 3, characterized in that: A plurality of suction cups (8) are provided on the lower surface of the suction cup connecting plate (7).

5. The gripper device for grasping drone wings according to claim 1, characterized in that: A plurality of positioning pins (6) are also distributed on the base plate (1).

6. The gripper device for grasping drone wings according to claim 1, characterized in that: The pneumatic pressing mechanism (3) comprises a cylinder (31) fixed on a base plate (1), a hinge seat (32) mounted on an output end of the cylinder (31), the hinge seat (32) being rotatably connected to one end of a pressing block (33), the other end of the pressing block (33) being a pressing end, a connecting block (34) being fixed on the cylinder (31), the connecting block (34) being connected to the pressing block (33) via a connecting hinge plate (35), and the connecting hinge plate (35) and the connecting block (34) and the pressing block (33) being rotatably connected.

7. The gripper device for grasping drone wings according to claim 1, characterized in that: The elastic detection mechanism (4) comprises a copper sleeve (44) mounted on a bottom plate (1), the copper sleeve (44) passing through the bottom plate (1), a sliding detection rod (41) being arranged in the copper sleeve (44), both ends of the detection rod (41) extending out of the copper sleeve (44), one end being mounted with a sensing block (45), and the other end being mounted with a flat washer (46), the detection rod (41) being provided with a groove above the flat washer (46), a retaining ring (42) being arranged in the groove for limiting the flat washer (46), a spring (43) being arranged between the flat washer (46) and the copper sleeve (44), the two ends of the spring (43) being fixed to the flat washer (46) and the copper sleeve (44) respectively.

8. The gripper device for grasping drone wings according to claim 7, characterized in that: A proximity switch (10) is installed on the bottom plate (1) at the position of the sensing block (45).

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