Bionic finger type unmanned aerial vehicle flexible clamping jaw

Abstract

The utility model discloses a bionic finger type unmanned aerial vehicle flexible clamping jaw in the technical field of unmanned aerial vehicles, which comprises an unmanned aerial vehicle body, a clamping mechanism is arranged below the unmanned aerial vehicle body, a pressurizing mechanism and a buffering mechanism are arranged on the outer side of the clamping mechanism, a turntable body is mounted at the lower end of a supporting plate, and a limiting clamping plate is mounted at the lower end of the turntable body. The bionic finger type unmanned aerial vehicle flexible clamping jaw comprises a rotating disc body, a gas rod body is arranged on the outer side of the rotating disc body, bearing frames are installed at the upper end and the lower end of the gas rod body, a butt joint block is arranged at the upper end of the gas rod body, and a supporting frame is fixedly installed on the outer wall of a limiting clamping plate. The clamping mechanism achieves the broad-spectrum grabbing capacity through bionic four-finger cooperation and rigid-flexible coupling design, the pressurizing mechanism dynamically adapts to the clamping strength through pneumatic pressurizing, and the buffering mechanism guarantees safe landing and complex object treatment through the multi-stage buffering and hooking functions. The combination of the three significantly improves the applicability, stability and scene coverage capability of the unmanned aerial vehicle clamping jaw.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field, concretely is a kind of bionic finger type unmanned plane flexible gripper. BACKGROUND

[0002] Unmanned plane is a kind of aircraft that realizes flight by remote control or autonomous flight program, it does not need pilot to operate on machine, usually carries various sensors, camera or equipment, is widely used in military reconnaissance, disaster monitoring, agricultural plant protection, logistics distribution, film and television shooting and other fields, unmanned plane has strong flexibility, low cost, adapt to complex environment and other advantages, with the continuous progress of technology, its application range in civil and commercial fields is also continuously expanding;Unmanned plane gripper is the innovative combination of unmanned plane technology and mechanical gripping device, it is like the "mechanical arm" of unmanned plane, gives unmanned plane the ability of grabbing, carrying, delivering objects, this device is usually made of light material to adapt to the weight limit of unmanned plane, and realizes accurate operation through precise control system.

[0003] In combination with the unmanned plane gripper in the prior art, it is found that the existing unmanned plane gripper has certain limitations in design and function, especially in gripping force, applicability and safety, which need to be further optimized, first, the current gripping force of the gripper is generally low, although the flexible gripper shows good protection when gripping fragile objects, but when facing heavy and not easily damaged objects (such as boxes, packages, etc.), its gripping ability is insufficient, it is difficult to meet the actual demand, secondly, the gripping method of the existing gripper mainly depends on the gathering and pressurizing mechanism, this method is suitable for regular shaped objects, but there are obvious defects when handling bagged objects, the flexible gripper cannot effectively hang or stably grab such objects, limiting its application range in logistics, transportation and other scenes;In addition, the unmanned plane equipped with the existing gripper generally lacks landing buffer component, so that the unmanned plane cannot realize autonomous landing and object delivery when conveying objects, usually needs manual pickup, which not only reduces the operation efficiency, but also increases the safety hazard.

[0004] Based on this, the utility model designs a kind of bionic finger type unmanned plane flexible gripper to solve the above problems. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a kind of bionic finger type unmanned plane flexible gripper to solve the problems raised in the above background.

[0006] To achieve the above object, the utility model provides the following technical scheme:

[0007] A kind of bionic finger type unmanned plane flexible gripper, including unmanned plane body, it is characterized by:

[0008] The lower part of the unmanned aerial vehicle body is provided with a clamping mechanism, the clamping mechanism comprises four groups of symmetrically arranged supporting plates, rotating disc bodies and limiting clamping plates, the lower end of the supporting plate is rotationally connected with the rotating disc body, and the lower end of the rotating disc body is fixedly connected with the limiting clamping plate;

[0009] The outer side of the clamping mechanism is provided with a supercharging mechanism, the supercharging mechanism comprises four groups of air rod bodies, bearing frames and butt joint blocks, the air rod body is hingedly connected with the limiting clamping plate and the butt joint block through the upper and lower bearing frames respectively, and the butt joint block is fixed on the supporting plate.

[0010] The lower part of the clamping mechanism is provided with a buffer mechanism, the buffer mechanism comprises a supporting frame fixed to the outer wall of the limiting clamping plate and a hook body, the lower end of the supporting frame is connected with a telescopic rod, the outer side of the telescopic rod is sleeved with a spring body, and the lower end is fixedly connected with a pad plate provided with a buffer rubber pad.

[0011] Optionally, the clamping mechanism further comprises a first fixing frame and a second fixing frame fixed to the lower end of the unmanned aerial vehicle body, the first fixing frame and the second fixing frame are vertically connected, and the lower end of the second fixing frame is fixedly provided with a mounting plate connected with the supporting plate.

[0012] Optionally, the second fixing frame is internally provided with a driving motor, the transmission end of the driving motor is connected with a driving gear, and the driving gear is meshingly connected with a transmission gear plate.

[0013] Optionally, the transmission gear plate is coaxially connected with a transmission gear, the transmission gear is connected with a threaded seat through a transmission screw, and the threaded seat is connected with the rotating disc body through a connecting rod.

[0014] Optionally, the supercharging mechanism further comprises an air pipe body connected with the air rod body, the air pipe body is connected with an air path distributor arranged in the first fixing frame, and the air path distributor is supplied with air by an air supply pump.

[0015] Optionally, the hook body is an L-shaped metal member, the vertical section of the hook body is fixed to the outer wall of the supporting frame, and the horizontal section extends outward to form a hook structure.

[0016] Optionally, the buffer rubber pad is made of high-damping silica gel material, the bottom surface of the buffer rubber pad is provided with anti-skid lines, and the thickness of the buffer rubber pad is 10-15 mm.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] 1. The utility model discloses a clamping mechanism and pressure increasing mechanism are provided, and the synchronous gathering design of four groups of support plate, carousel body and limit clamping plate is passed through to clamping mechanism, and the clamping range is significantly enlarged, can be flexible to wrap fragile product, can also drive gear through rigid transmission assembly, and the mechanical strength of transmission screw rod is promoted, and the article of different shape and weight is adapted, and the pressure increasing mechanism is adjusted the clamping strength through the linear thrust of air rod body, and the controllable gas pressure is superposed on the basis clamping force of clamping mechanism, can not only avoid overpressure damage article, but also can respond to high heavy scene, and the air path distributor ensures that four groups of air rod pressure is balanced, and improves the symmetry and stability of clamping.

[0019] 2. The utility model discloses a buffer mechanism, and the composite structure of telescopic link and spring body realizes multistage buffering, and the spring body absorbs vertical impact when the unmanned plane lands, and the buffer rubber pad disperses the landing kinetic energy through material deformation, and the friction of rubber pad and ground can prevent the unmanned plane from slipping and toppling, further reduce the structure vibration when the unmanned plane lands, improve operation safety and delivery efficiency, and the rigid connection design of hook body and support frame makes the unmanned plane clamping jaw can hook bagged article, solve the pain point that traditional clamping jaw cannot handle bagged package. DRAWINGS

[0020] Figure 1 It is the structure schematic diagram of the utility model three-dimensional front view;

[0021] Figure 2 It is the structure schematic diagram of the utility model plane front view;

[0022] Figure 3 It is the structure schematic diagram of the utility model three-dimensional bottom view;

[0023] Figure 4 It is the structure schematic diagram of the utility model three-dimensional section Figure 1 ;

[0024] Figure 5 It is the structure schematic diagram of the utility model three-dimensional top view;

[0025] Figure 6 It is the structure schematic diagram of the utility model plane bottom view;

[0026] Figure 7 It is the structure schematic diagram of the utility model three-dimensional left view;

[0027] Figure 8 It is the structure schematic diagram of the utility model three-dimensional section Figure 2 ;

[0028] Figure 9 It is the structure schematic diagram of the utility model three-dimensional section Figure 3 ;

[0029] Figure 10The utility model discloses Figure 8 The structure schematic diagram of the enlarged view of the middle A.

[0030] In the figure: 1, unmanned aerial vehicle body;2, clamping mechanism;201, first fixed frame;202, second fixed frame;203, mounting plate;204, support plate;205, turntable body;206, limit clamping plate;207, drive motor;208, drive gear;209, transmission gear disc;210, transmission gear;211, transmission screw;212, threaded seat;213, connecting rod;3, pressure increasing mechanism;301, gas rod body;302, bearing frame;303, butt joint block;304, air pipe body;305, gas path distributor;306, gas supply pump;4, buffer mechanism;401, support frame;402, telescopic rod;403, spring body;404, pad;405, buffer rubber pad;406, hook body. DETAILED DESCRIPTION

[0031] In the description of the utility model, need understanding, the orientation or positional relation that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" indicate is based on the orientation or positional relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, with a particular orientation structure and operation, therefore can not be understood as the limitation of the utility model. In addition, the terms "first", "second" and the like are only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features limited by "first", "second" and the like can be explicitly or implicitly include one or more features. In the description of the utility model, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0032] In the description of the utility model, it should be explained that, unless otherwise specified and limited, the terms "mounting", "connecting", "connecting" should be understood broadly, for example, it can be fixedly connected, can be detachably connected, or integrally connected;It can be mechanical connection, or electrical connection;It can be directly connected, or indirectly connected through intermediate medium, it can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood through specific circumstances.

[0033] Clearly, the described embodiments are merely a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0034] Please refer to Figures 1-10 In the embodiment of the present application, the bionic finger type unmanned aerial vehicle flexible clamping claw comprises an unmanned aerial vehicle body 1, a clamping mechanism 2 arranged below the unmanned aerial vehicle body 1, a pressure increasing mechanism 3 and a buffer mechanism 4 arranged outside the clamping mechanism 2, the clamping mechanism 2 comprising a supporting plate 204, a rotating disc body 205 and a limiting clamping plate 206, the lower end of the supporting plate 204 being provided with the rotating disc body 205, the lower end of the rotating disc body 205 being provided with the limiting clamping plate 206, the clamping mechanism 2 further comprising a first fixing frame 201 and a second fixing frame 202, the lower end of the unmanned aerial vehicle body 1 being fixedly provided with the first fixing frame 201, the lower end of the first fixing frame 201 being fixedly provided with the second fixing frame 202, the lower end of the second fixing frame 202 being fixedly provided with a mounting plate 203, the mounting plate 203 being fixedly connected with the supporting plate 204, the inside of the second fixing frame 202 being fixedly provided with a driving motor 207, the transmission end of the driving motor 207 being provided with a driving gear 208, the right side of the driving gear 208 being provided with a transmission gear disc 209, the transmission gear disc 209 being engaged with the driving gear 208, the middle part of the rotating disc body 205 being provided with a connecting rod 213, one end of the connecting rod 213 away from the rotating disc body 205 being connected with a threaded seat 212, the middle part of the threaded seat 212 being threadedly connected with a transmission screw 211, the upper end of the transmission screw 211 being fixedly provided with a transmission gear 210;

[0035] The clamping mechanism 2 adopts a clamping mode of four sets of supporting plates 204, a rotating disc body 205 and limiting clamping plates 206. The limiting clamping plates 206 are made of rubber material and can flexibly clamp articles and provide the function of pressurized clamping of the articles. The clamping mechanism 2 is driven by a driving motor 207, and then the driving force is transmitted to a connecting rod 213 through a driving gear 208, a transmission gear disc 209, a transmission gear 210, a transmission screw 211 and a threaded seat 212. Under the pulling action of the four sets of connecting rods 213, the corresponding four sets of supporting plates 204, the rotating disc body 205 and the limiting clamping plates 206 can be effectively controlled at the same time, thereby realizing the effect of effectively gathering and clamping the articles. The specific starting process is as follows: first, the driving motor 207 is connected to the power supply and connected to the control terminal, the driving motor 207 is started to drive the driving gear 208 to rotate, the driving gear 208 drives the transmission gear disc 209 to rotate, the lower end region of the transmission gear disc 209 is engaged with the transmission gear 210, thereby driving the transmission gear 210 and the transmission screw 211 to rotate, when the transmission screw 211 rotates, the transmission screw 211 pulls the connecting rod 213 upward to gather the corresponding supporting plates 204, the rotating disc body 205 and the limiting clamping plates 206, thereby realizing the effect of clamping the articles. Conversely, the driving motor 207 drives the driving gear 208 to rotate in the reverse direction, which can push the connecting rod 213 downward to expand the four sets of supporting plates 204, the rotating disc body 205 and the limiting clamping plates 206.

[0036] The pressurizing mechanism 3 comprises a gas rod body 301, a bearing frame 302 and a butt joint block 303. The outer side of the rotating disc body 205 is provided with the gas rod body 301, the upper and lower ends of the gas rod body 301 are both provided with the bearing frame 302, the upper end of the gas rod body 301 is provided with the butt joint block 303, the butt joint block 303 is fixedly installed on the supporting plate 204, the gas rod body 301 is connected with the limiting clamping plate 206 and the butt joint block 303 through the bearing frame 302, the upper end of the gas rod body 301 is fixedly connected with a gas pipe body 304, the end of the gas pipe body 304 away from the gas rod body 301 is fixedly connected with a gas path distributor 305, the gas path distributor 305 is fixedly installed at the bottom end inside the first fixed frame 201, a gas supply pump 306 is fixedly installed inside the first fixed frame 201, and the gas supply pump 306 is in communication with the gas path distributor 305.

[0037] The pressurizing mechanism 3 is composed of the gas supply pump 306, the gas path distributor 305 and four sets of symmetrical pneumatic components. The gas supply pump 306 is a piston type gas pump driven by a micro brushless motor and is fixed in the first fixed frame 201. The gas path distributor 305 is connected with the gas pipe body 304. The gas path distributor 305 is a cross-shaped aluminum alloy flow channel structure, and four output ports are connected with four sets of gas rod bodies 301.

[0038] Each group of pneumatic components contains a pneumatic rod body 301, a bearing bracket 302 and a butt block 303, the pneumatic rod body 301 is selected from a double-acting linear cylinder, the upper and lower ends thereof are respectively connected with the outer wall of the limiting clamp plate 206 and the butt block 303 through the bearing bracket 302 to form a spherical hinge connection, the butt block 303 is a T-shaped stainless steel part, which is fixed to the middle part of the side surface of the support plate 204 through bolts;

[0039] The working process is as follows: when the clamping mechanism 2 completes the initial clamping of the article, the control terminal starts the air supply pump 306, the compressed air is distributed to the four groups of pneumatic rod bodies 301 through the air path distributor 305, the piston rod of the pneumatic rod body 301 is pushed downward by the air pressure to exert a vertical downward boosting force on the limiting clamp plate 206 through the bearing bracket 302, so that the limiting clamp plate 206 made of rubber material is elastically deformed, and the clamping force is increased by 40%-60%;

[0040] The buffer mechanism 4 includes a support bracket 401 and a hook body 406, the support bracket 401 is fixedly installed on the outer wall of the limiting clamp plate 206, the hook body 406 is fixedly installed on the outer wall of the support bracket 401, the telescopic rod 402 is fixedly installed at the lower end of the support bracket 401, the cushion plate 404 is fixedly connected to the lower end of the telescopic rod 402, the buffer rubber pad 405 is fixedly installed at the lower end of the cushion plate 404, and the spring body 403 is arranged on the outer side of the telescopic rod 402;

[0041] The buffer mechanism 4 includes four groups of independent buffer units, which are symmetrically installed on the outer side of the limiting clamp plate 206. Each group of buffer units is composed of a support bracket 401, a telescopic rod 402, a spring body 403 and a buffer rubber pad 405, the support bracket 401 is an aluminum alloy casting, the vertical section thereof is fixed to the outer wall of the limiting clamp plate 206 through bolts, and the horizontal section thereof extends outward by 30 mm to form an installation platform;

[0042] The telescopic rod 402 is selected from a two-stage damping type linear bearing, the maximum compression stroke thereof is 80 mm, the lower end thereof is connected with a circular cushion plate 404 with a diameter of 100 mm, the spring body 403 is sleeved on the outer side of the telescopic rod 402, and the buffer rubber pad 405 is 15 mm thick high-damping silica gel, the bottom surface of which is provided with 3 mm deep diamond-shaped anti-skid lines and is fixedly bonded to the cushion plate 404 through a vulcanization process;

[0043] When landing and buffering, the buffer rubber pad 405 first contacts the ground, the silica gel material is compressed and deformed by 30%-40% to dissipate 60% of the impact energy, the remaining kinetic energy drives the spring body 403 to store energy through the axial compression of the telescopic rod 402, the maximum compression amount of the spring can reach 50 mm, within 3 seconds after landing, the spring body 403 releases 70% of the stored energy to realize posture resetting, and the remaining energy is converted into heat energy through the viscoelastic hysteresis effect of the silica gel material and is dissipated;

[0044] The utility model discloses a working principle is: this bionic finger type unmanned plane flexible clamp jaw realizes multifunctional gripping and safe operation through the synergistic effect of clamping mechanism 2, pressure increasing mechanism 3 and buffer mechanism 4, first, the drive motor 207 of clamping mechanism 2 rotates drive gear 208 and transmission gear disc 209 drive transmission gear 210, drives transmission screw rod 211 to rotate and drags screw seat 212 and connecting rod 213 to move upward, makes four groups of support plate 204, carousel body 205 and spacing clamp plate 206 synchronous gather, forms the flexible clamping action of bionic finger, spacing clamp plate 206 adopts rubber material, can protect the surface of fragile article, when clamping is heavy or needs more stable gripping, pressure increasing mechanism 3 starts: gas pump 306 fills air through air path distributor 305 to four group gas rod body 301, and gas rod body 301 pushes spacing clamp plate 206 downward, further increases the clamping pressure, ensures the firm gripping of heavy things such as parcel, box, finally, when unmanned plane lands, buffer mechanism 4 utilizes the elastic energy storage of spring body 403 and the viscous resistance of buffer rubber pad 405 and dissipates impact kinetic energy, ensures that unmanned plane can land safely, and hook body 406 can hook bagged article.

[0045] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, and the scope of the utility model is defined by the appended claims and their equivalents.

Claims

1. A bionic finger type unmanned aerial vehicle flexible clamp, comprising an unmanned aerial vehicle body (1), characterized in that: a clamping mechanism (2) is arranged below the unmanned aerial vehicle body (1), the clamping mechanism (2) comprises four groups of symmetrically arranged support plates (204), rotary disc bodies (205) and limiting clamping plates (206), the lower end of the support plate (204) is rotationally connected to the rotary disc body (205), and the lower end of the rotary disc body (205) is fixedly connected to the limiting clamping plate (206); a pressurizing mechanism (3) is arranged around the outer side of the clamping mechanism (2), the pressurizing mechanism (3) comprises four groups of air rod bodies (301), bearing frames (302) and butt blocks (303), the air rod body (301) is hingedly connected to the limiting clamping plate (206) and the butt block (303) through the bearing frames (302) at the upper and lower ends, and the butt block (303) is fixed to the support plate (204); a buffer mechanism (4) is arranged below the clamping mechanism (2), the buffer mechanism (4) comprises a support frame (401) fixed to the outer wall of the limiting clamping plate (206) and a hook body (406), the lower end of the support frame (401) is connected to an extension rod (402), the extension rod (402) is sleeved with a spring body (403) on the outer side, and the lower end is fixedly connected to a backing plate (404) provided with a buffer rubber pad (405). The clamping mechanism (2) further comprises a first fixed frame (201) and a second fixed frame (202) fixed to the lower end of the unmanned aerial vehicle body (1), the first fixed frame (201) and the second fixed frame (202) are connected perpendicularly, and the second fixed frame (202) is fixedly provided with a mounting plate (203) connected with the support plate (204) at the lower end. A drive motor (207) is arranged in the second fixed frame (202), a drive gear (208) is connected to the transmission end of the drive motor (207), and the drive gear (208) is meshingly connected to a transmission gear disc (209). The transmission gear disc (209) is coaxially connected to a transmission gear (210), the transmission gear (210) is connected to a threaded seat (212) through a transmission screw (211), and the threaded seat (212) is connected to the rotary disc body (205) through a connecting rod (213).

2. A bionic finger type unmanned aerial vehicle flexible gripper according to claim 1, characterized in that: The pressurizing mechanism (3) further comprises an air pipe body (304) connected to the air rod body (301), the air pipe body (304) is connected to an air path distributor (305) arranged in the first fixed frame (201), and the air path distributor (305) is supplied with air by an air supply pump (306).

3. A bionic finger type unmanned aerial vehicle flexible gripper according to claim 2, characterized in that: The hook body (406) is an L-shaped metal member, the vertical section of which is fixed to the outer wall of the support frame (401), and the horizontal section extends outward to form a hook structure.

4. The bionic finger type unmanned aerial vehicle flexible gripper according to claim 3, characterized in that: The buffer rubber pad (405) is made of high-damping silica gel material, the bottom surface of which is provided with anti-skid lines, and the thickness thereof is 10-15 mm.

5. The bionic finger type unmanned aerial vehicle flexible gripper according to claim 1, characterized in that: ​ 6. The bionic finger type unmanned aerial vehicle flexible gripper according to claim 1, characterized in that: ​ 7. The bionic finger type unmanned aerial vehicle flexible gripper according to claim 1, characterized in that: ​

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