Unmanned aerial vehicle grabbing device

Abstract

The utility model provides an unmanned aerial vehicle gripping device, and relates to the technical field of unmanned aerial vehicles, the unmanned aerial vehicle gripping device comprises a connecting device connected with an unmanned aerial vehicle body, a clamping device is arranged below the connecting device, the connecting device comprises a top plate, the top plate is connected with the unmanned aerial vehicle body, a connecting seat is arranged below the top plate, and the clamping device is arranged below the connecting seat. The inner wall of the connecting base is rotationally connected with an adjusting cylinder, and a rotating cylinder is arranged in the adjusting cylinder. According to the unmanned aerial vehicle grabbing device, the unmanned aerial vehicle and the clamping device are in a rigid connection state through meshing of a fluted disc and a gear ring in the flying process, in the landing hovering stage, the unmanned aerial vehicle and the clamping device are in a suspension state through meshing releasing of the fluted disc and a gear, and the torsion influence caused by gravity center shift of rigid connection is eliminated; the influence of the unmanned aerial vehicle on the unmanned aerial vehicle when the unmanned aerial vehicle tilts to correct lateral wind is reduced, and stability between goods and the unmanned aerial vehicle is maintained.

Description

Technical Field

[0001] This utility model relates to a grasping device, specifically a drone grasping device, belonging to the field of drone technology. Background Technology

[0002] With the rapid development of the market economy and the continuous updating of people's consumption patterns and shopping concepts, the express delivery industry is playing an increasingly important role in the development of the national economy and social life. Drones are receiving more and more attention in the express delivery field due to their low cost, high efficiency, vertical take-off and landing, and flexible operation.

[0003] In existing technologies, drone delivery solutions combine cargo with a multi-rotor drone as a single unit, with a rigid connection between the drone body, the grasping device, and the cargo. Although the cargo is loaded in a container, its weight causes the drone's center of gravity to shift. This can be corrected during flight using flight control. However, upon arrival at the destination, the delivery lockers are typically small, requiring the drone to hover above them before descending. If there is crosswind, the drone needs to tilt to correct the lateral movement caused by the crosswind. The fixed cargo will also tilt, exerting a downward torque on the drone. This forces the drone to increase its tilt angle to stabilize the cargo's torque. The increased tilt angle, in turn, alters the lift, affecting the drone's hovering and landing.

[0004] Therefore, a drone-based grasping device is proposed here. Utility Model Content

[0005] This invention proposes a drone grasping device to maintain the stability between the cargo and the drone during drone flight and takeoff.

[0006] This utility model is achieved through the following technical solution: a drone grasping device, including a connecting device connected to the drone body, and a clamping device provided below the connecting device;

[0007] The connecting device includes a top plate connected to the UAV body. A connecting seat is provided below the top plate. An adjusting cylinder is rotatably connected to the inner wall of the connecting seat. A rotating cylinder is provided inside the adjusting cylinder. The right end of the rotating cylinder is fixed to the connecting seat via a rotating shaft. The adjusting cylinder is fixed to the top plate. A toothed ring is fixed to the left end of the rotating cylinder. A toothed disc is provided on the inner wall of the rotating cylinder. The toothed disc meshes with the toothed ring. A movable disc is slidably connected to the inner wall of the rotating cylinder. A movable rod is fixed to the right side of the movable disc. The other end of the movable rod is fixed to the toothed disc.

[0008] An electric actuator is fixed to the inner wall of the rotating cylinder, and an adjustment plate is fixed to the output end of the electric actuator. A chamber is opened on the left side of the movable plate, and the adjustment plate is located inside the chamber. The adjustment plate can be moved by pushing the electric actuator, and the movement of the adjustment plate can drive the movable plate to move.

[0009] The inner wall of the rotating cylinder is fixed with a track block, and the side of the moving disk is provided with a track groove. The track block is slidably connected to the track groove. By restricting the rotating cylinder with the track block, the torque transmitted to the moving rod by the meshing of the toothed disc and the toothed ring is eliminated, thereby maintaining the stability of the moving disk.

[0010] The clamping device includes a support plate, and a turntable is rotatably connected to the bottom surface of the connecting seat. The turntable is fixed to the support plate, and an adjusting motor is installed on the upper surface of the connecting seat. The output end of the adjusting motor is fixed to the turntable. The adjusting motor can drive the turntable to rotate, and the rotation of the turntable drives the support plate to rotate.

[0011] The clamping device also includes a slider disposed below the support plate. The bottom surface of the support plate has a sliding groove. The slider is slidably connected to the sliding groove. The inner wall of the sliding groove is rotatably connected to a threaded rod. The outer surface of the threaded rod has a bidirectional threaded groove. The slider is threadedly connected to the threaded rod.

[0012] A clamping motor is installed on the left side of the support plate. The output end of the clamping motor is fixed to the threaded rod. The clamping motor can drive the threaded rod to rotate, and the rotation of the threaded rod can drive the slider to move.

[0013] A bracket is slidably connected to the bottom surface of the support plate. The bracket is fixed to the slider. A lifting groove is provided on one side of the bracket that is close to each other. A pressure plate is slidably connected to the other side of the bracket that is close to each other. A lifting block is fixed on the side of the pressure plate that is close to the bracket. The lifting block is slidably connected to the lifting groove. An auxiliary rod is fixed in the lifting groove. The auxiliary rod passes through the lifting block. An auxiliary spring is installed on the upper surface of the lifting block. The other end of the auxiliary spring is fixed to the lifting groove.

[0014] This utility model provides a drone grasping device, which has the following beneficial effects:

[0015] 1. This drone gripping device uses the meshing of the toothed disc and the toothed ring to prevent the toothed ring from rotating, which in turn prevents the connecting seat from rotating. At this time, there is a rigid connection between the gripping device, the connecting device, and the drone, which helps maintain the stability of the drone during flight. During the landing and hovering phase, the meshing of the toothed disc and the gear is disengaged, allowing the connecting seat to rotate. At this time, the drone and the gripping device are in a suspended state, and the center of gravity of the cargo carried by the gripping device is downward. This eliminates the torsional effect caused by the center of gravity shift due to the rigid connection, reduces the impact of crosswinds on the drone when tilting to correct for lateral winds, and maintains the stability between the cargo and the drone.

[0016] 2. The drone gripping device uses a threaded rod to move a slider, which in turn moves a support. The movement of the support allows the gripping device to hold cargo boxes of different sizes. At the same time, the elastic force of an auxiliary spring can push a lifting block to descend, which in turn moves a pressure plate down. The descending pressure plate presses down on the cargo box, thus helping to stabilize the cargo box. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0018] Figure 2 This is a sectional view of the side view of the connector of this utility model;

[0019] Figure 3 This is a schematic diagram of the internal structure of the regulating cylinder of this utility model;

[0020] Figure 4 This is a schematic diagram of the structure at the position of the lifting block of this utility model.

[0021] Explanation of reference numerals in the attached figures

[0022] 1. Connecting device; 101. Top plate; 102. Connecting seat; 103. Adjusting cylinder; 104. Rotating cylinder; 105. Gear ring; 106. Gear disc; 107. Moving disc; 108. Moving rod; 109. Electric actuator; 110. Adjusting disc; 111. Track block; 112. Turntable; 113. Adjusting motor;

[0023] 2. Clamping device; 201. Bearing plate; 202. Slider; 203. Threaded rod; 204. Clamping motor; 205. Bracket; 206. Pressure plate; 207. Lifting block; 208. Auxiliary rod; 209. Auxiliary spring. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0025] Please see Figures 1-4 This utility model provides a drone grasping device, including a connecting device 1 connected to the drone body, a clamping device 2 disposed below the connecting device 1, the connecting device 1 including a top plate 101 connected to the drone body, a connecting seat 102 disposed below the top plate 101, an adjusting cylinder 103 rotatably connected to the inner wall of the connecting seat 102, a rotating cylinder 104 disposed inside the adjusting cylinder 103, the right end of the rotating cylinder 104 being fixed to the connecting seat 102 via a rotating shaft, the adjusting cylinder 103 being fixed to the top plate 101, a toothed ring 105 being fixed to the left end of the rotating cylinder 104, a toothed disc 106 disposed on the inner wall of the rotating cylinder 104, the toothed disc 106 meshing with the toothed ring 105, a movable disc 107 slidably connected to the inner wall of the rotating cylinder 104, a movable rod 108 fixed to the right side of the movable disc 107, and the other end of the movable rod 108 being fixed to the toothed disc 106.

[0026] Please refer to this carefully. Figure 1 , Figure 3 and Figure 4 An electric actuator 109 is fixed to the inner wall of the rotating cylinder 104. An adjusting plate 110 is fixed to the output end of the electric actuator 109. A chamber is opened on the left side of the moving plate 107. The adjusting plate 110 is set inside the chamber. The adjusting plate 110 can be moved by the electric actuator 109. The movement of the adjusting plate 110 can drive the moving plate 107 to move. A track block 111 is fixed to the inner wall of the rotating cylinder 104. A track groove is opened on the side of the moving plate 107. The track block 111 is slidably connected to the track groove. The track block 111 restricts the rotating cylinder 104, eliminates the torque transmitted to the moving rod 108 by the meshing of the toothed disc 106 and the toothed ring 105, and thus maintains the stability of the moving plate 107.

[0027] Please refer to this carefully. Figure 1 , Figure 2 and Figure 3The clamping device 2 includes a support plate 201, a turntable 112 rotatably connected to the bottom surface of a connecting seat 102, the turntable 112 being fixed to the support plate 201, an adjusting motor 113 mounted on the upper surface of the connecting seat 102, the output end of the adjusting motor 113 being fixed to the turntable 112, the adjusting motor 113 driving the turntable 112 to rotate, the rotation of the turntable 112 driving the support plate 201 to rotate, the clamping device 2 also includes a slider 202 disposed below the support plate 201, a groove being provided on the bottom surface of the support plate 201, the slider 202 being slidably connected to the groove, a threaded rod 203 being rotatably connected to the inner wall of the groove, a bidirectional threaded groove being provided on the outer surface of the threaded rod 203, and the slider 202 being threadedly connected to the threaded rod 203.

[0028] Please refer to this carefully. Figure 1 , Figure 3 and Figure 4 A clamping motor 204 is installed on the left side of the support plate 201. The output end of the clamping motor 204 is fixed to the threaded rod 203. The clamping motor 204 can drive the threaded rod 203 to rotate. The rotation of the threaded rod 203 can drive the slider 202 to move. A bracket 205 is slidably connected to the bottom surface of the support plate 201. The bracket 205 is fixed to the slider 202. A lifting groove is opened on the side of the bracket 205 that is close to each other. A pressure plate 206 is slidably connected to the side of the bracket 205 that is close to each other. A lifting block 207 is fixed on the side of the pressure plate 206 that is close to the bracket 205. The lifting block 207 is slidably connected to the lifting groove. An auxiliary rod 208 is fixed in the lifting groove. The auxiliary rod 208 passes through the lifting block 207. An auxiliary spring 209 is installed on the upper surface of the lifting block 207. The other end of the auxiliary spring 209 is fixed to the lifting groove.

[0029] In use, when the drone is in flight, the engagement of the gear 106 and the gear ring 105 prevents the gear ring 105 from rotating, thus preventing the connecting seat 102 from rotating. At this time, the clamping device 2, the connecting device 1, and the drone are rigidly connected, which helps maintain the stability of the drone during flight. During the landing and hovering phase, the engagement of the gear 106 and the gear allows the connecting seat 102 to rotate. At this time, the drone and the clamping device 2 are in a suspended state, and the center of gravity of the cargo carried by the clamping device 2 is downward, eliminating the torsional effect caused by the center of gravity shift due to the rigid connection, reducing the impact of the drone on the drone when tilting to correct for crosswinds, and maintaining the stability between the cargo and the drone.

[0030] By setting the threaded rod 203 to drive the slider 202 to move, the slider 202 can drive the bracket 205 to move. The movement of the bracket 205 allows the clamping device 2 to clamp cargo boxes of different sizes. At the same time, the elastic force of the auxiliary spring 209 can push the lifting block 207 to descend, thereby driving the pressure plate 206 to descend. The pressure plate 206 descends and presses down on the cargo box, thereby assisting in the stability of the cargo box.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A drone-grabbing device, comprising a connecting device (1) connected to the drone body, characterized in that: A clamping device (2) is provided below the connecting device (1); The connecting device (1) includes a top plate (101) connected to the UAV body. A connecting seat (102) is provided below the top plate (101). An adjusting cylinder (103) is rotatably connected to the inner wall of the connecting seat (102). A rotating cylinder (104) is provided inside the adjusting cylinder (103). The right end of the rotating cylinder (104) is fixed to the connecting seat (102) via a rotating shaft. The adjusting cylinder (103) and the top plate... (101) The rotating cylinder (104) is fixed with a toothed ring (105) at its left end. The inner wall of the rotating cylinder (104) is provided with a toothed disc (106). The toothed disc (106) meshes with the toothed ring (105). The inner wall of the rotating cylinder (104) is slidably connected with a movable disc (107). The right side of the movable disc (107) is fixed with a movable rod (108). The other end of the movable rod (108) is fixed with the toothed disc (106).

2. The drone grasping device according to claim 1, characterized in that: An electric actuator (109) is fixed to the inner wall of the rotating cylinder (104), and an adjustment disk (110) is fixed to the output end of the electric actuator (109). A cavity is opened on the left side of the moving disk (107), and the adjustment disk (110) is located inside the cavity.

3. The drone grasping device according to claim 1, characterized in that: The inner wall of the rotating cylinder (104) is fixed with a track block (111), and the side of the movable disk (107) is provided with a track groove, and the track block (111) is slidably connected to the track groove.

4. The drone grasping device according to claim 1, characterized in that: The clamping device (2) includes a support plate (201), and a turntable (112) is rotatably connected to the bottom surface of the connecting seat (102). The turntable (112) is fixed to the support plate (201), and an adjusting motor (113) is installed on the upper surface of the connecting seat (102). The output end of the adjusting motor (113) is fixed to the turntable (112).

5. The drone grasping device according to claim 1, characterized in that: The clamping device (2) further includes a slider (202) disposed below the support plate (201). The bottom surface of the support plate (201) is provided with a sliding groove. The slider (202) is slidably connected to the sliding groove. The inner wall of the sliding groove is rotatably connected to a threaded rod (203). The outer surface of the threaded rod (203) is provided with a bidirectional threaded groove. The slider (202) is threadedly connected to the threaded rod (203).

6. The drone grasping device according to claim 5, characterized in that: A clamping motor (204) is installed on the left side of the support plate (201), and the output end of the clamping motor (204) is fixed to the threaded rod (203).

7. The drone grasping device according to claim 6, characterized in that: A bracket (205) is slidably connected to the bottom surface of the support plate (201). The bracket (205) is fixed to the slider (202). A lifting groove is provided on one side of the bracket (205) that is close to each other. A pressure plate (206) is slidably connected to one side of the bracket (205) that is close to each other. A lifting block (207) is fixed on one side of the pressure plate (206) that is close to the bracket (205). The lifting block (207) is slidably connected to the lifting groove. An auxiliary rod (208) is fixed in the lifting groove. The auxiliary rod (208) passes through the lifting block (207). An auxiliary spring (209) is installed on the upper surface of the lifting block (207). The other end of the auxiliary spring (209) is fixed to the lifting groove.

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