Grabbing device, grabbing unmanned aerial vehicle and unmanned aerial vehicle grabbing system

Abstract

The utility model belongs to the technical field of unmanned aerial vehicles, and discloses a grabbing device, a grabbing unmanned aerial vehicle and an unmanned aerial vehicle grabbing system.The grabbing device comprises a main machine body and a grabbing assembly, the grabbing assembly comprises two grabbing arms, one ends of the two grabbing arms are both rotatably connected to the main machine body, rotating shafts of the two grabbing arms are coaxially arranged, and the rotating shafts of the two grabbing arms are coaxially connected to the main machine body; the other end, away from the rotating shaft, of each grabbing arm is provided with a hanging piece forming an included angle with the grabbing arm, the two grabbing arms can rotate around the rotating shaft so that the two hanging pieces can get close to or get away from each other, when the grabbing assembly is in the grabbing state, the two hanging pieces are connected, the hanging part is hung to the two hanging pieces, and the hanging part is hung to the two hanging pieces in the vertical direction. And the middle shafts and the rotating shafts of the two hanging pieces are positioned in the same vertical plane. According to the grabbing device, the rotational inertia of the grabbing arm can be reduced, it is guaranteed that the grabbing assembly keeps the grabbing state under the gravity action of the object to be grabbed, the object to be grabbed is prevented from falling off, deformation and breakage of the grabbing arm are avoided, and the grabbing reliability and safety of the grabbing unmanned aerial vehicle are guaranteed.

Description

TECHNICAL FIELD

[0001] The utility model relates to unmanned plane technical field especially relates to a kind of grabbing device, grab unmanned plane and unmanned plane grabbing system. BACKGROUND

[0002] Unmanned plane is limited by terrain, can be used to carry object, for example, carry photovoltaic cleaning robot, robot dog etc..When carrying object, grab unmanned plane can realize automatic grabbing to object using grabbing structure.

[0003] The existing grabbing structure includes two juxtaposed clamping jaws, the upper end of the two clamping jaws is provided with a gear, the toothed shafts of the two gears are parallel to each other and are spaced apart, and the two gears are engaged with the same screw rod. When the screw rod rotates, it drives the two gears to rotate in opposite directions, realizing the relative opening or closing of the two clamping jaws. When the two clamping jaws are closed, the object is suspended on the hook at the lower end of the clamping jaws. The weight of the object acts on the hook, and under the action of gravity, due to the existence of torque between the hook and the gear, in the case of insufficient self-locking force of the screw rod, the clamping jaw has the risk of rotating open, causing unstable grabbing and causing the object to fall. Moreover, under the constraint of the gear and screw rod engaged and connected at the upper end, the clamping jaw bears a large torque exerted by the object through the hook at the lower end, which is prone to deformation, affecting the grabbing reliability of the grabbing unmanned plane. SUMMARY

[0004] One purpose of the utility model is to solve one of the above technical problems. To achieve this purpose, the utility model adopts the following technical solutions:

[0005] The utility model provides a grabbing device for grabbing a to-be-grabbed object, wherein the to-be-grabbed object comprises a suspended part, and the grabbing device comprises:

[0006] a main body;

[0007] a grabbing assembly, wherein the grabbing assembly comprises two grabbing arms, one end of each of the two grabbing arms is rotatably connected to the main body, the rotation shafts of the two grabbing arms are coaxially arranged, a hooking piece is arranged at the other end of each of the grabbing arms away from the rotation shaft, the hooking piece and the grabbing arm are arranged at an angle, the two grabbing arms can rotate around the rotation shaft to make the two hooking pieces approach or move away from each other, in the grabbing state, the two hooking pieces are connected to each other, the suspended part is hooked on the two hooking pieces, and in the vertical direction, the central axes of the two hooking pieces and the rotation shafts are located in the same vertical plane.

[0008] In one of the embodiments, in the grabbing state, in the vertical direction, one of the two hooking pieces is located above the other, the two hooking pieces are parallel to each other and are both arranged horizontally, and the two grabbing arms are symmetrically arranged relative to the rotation shaft.

[0009] In one of the embodiments, the grabbing device further comprises a driving member and a transmission assembly, the transmission assembly is transmissionally connected to the output end of the driving member and the two grabbing arms, the driving member is used to drive the two grabbing arms to rotate around the rotating shaft simultaneously, and the rotating directions of the two grabbing arms are opposite.

[0010] In one of the embodiments, the main body is provided with a support shaft, the driving member is a motor, the output shaft of the motor and the support shaft are perpendicular to each other, and the transmission assembly comprises:

[0011] a driving bevel gear connected to the output shaft;

[0012] two transmission bevel gears, the two transmission bevel gears and the two grabbing arms are in one-to-one correspondence, the transmission bevel gears are connected to the ends of the grabbing arms away from the hanger, the two transmission bevel gears are rotatably connected to the support shaft respectively and are arranged along the axial direction of the support shaft, the two transmission bevel gears are meshed on the two sides of the driving bevel gear respectively, and the driving bevel gear can drive the two transmission bevel gears to rotate reversely simultaneously.

[0013] In one of the embodiments, the grabbing arm comprises:

[0014] an avoiding part in the shape of U to form an avoiding space, the avoiding part comprises a connecting cross arm and two parallel support arms, the two ends of the connecting cross arm are connected to the two support arms respectively, one of the two support arms is fixedly connected to the transmission bevel gear, and the other is rotatably connected to the support shaft, and the transmission bevel gear is located in the avoiding space;

[0015] a main arm body, one end of the main arm body is connected to the connecting cross arm, and the other end is connected to the hanger.

[0016] In one of the embodiments, the two avoiding parts are staggered along the axial direction of the support shaft.

[0017] and / or,

[0018] the main arm bodies of the two grabbing arms are located in the same vertical plane.

[0019] In one of the embodiments, among the two avoiding parts, the extension length of one of the avoiding spaces is greater than that of the other along the length direction of the main arm body, so as to avoid the driving member.

[0020] In one of the embodiments, the upper hanging member is provided with a through guide hole, and the lower hanging member is provided with an insertion slot, and in the grabbing state, the insertion slot is in communication with the guide hole.

[0021] The grabbing device further comprises a locking assembly, which comprises:

[0022] A sliding frame is slidably connected to one of the two grabbing arms at one end and arranged above the upper hanging member, and a locking pin is arranged on the sliding frame and slidably passes through the guide hole, and the sliding frame can hang the suspension part, and when the object to be grabbed is in a suspended state, the suspension part can pull the sliding frame to insert the end of the locking pin into the insertion slot.

[0023] An unlocking elastic member is connected to the sliding frame at one end and to the upper hanging member at the other end, and the unlocking elastic member always has a movement tendency to push the sliding frame to disengage the locking pin from the insertion slot.

[0024] In one of the embodiments, the upper end of the hanging member has a support part for abutting and limiting the sliding distance of the sliding frame.

[0025] And / or,

[0026] The top of the sliding frame has an arc-shaped guide surface which is recessed towards the lower hanging member.

[0027] Another purpose of the utility model is also one of the above problems. To achieve this purpose, the utility model further adopts the following technical solutions:

[0028] The utility model provides a grabbing unmanned aerial vehicle, which comprises the grabbing device in any one of the above embodiments.

[0029] A third purpose of the utility model is also one of the above problems. To achieve this purpose, the utility model third aspect adopts the following technical solutions:

[0030] The utility model provides an unmanned aerial vehicle grabbing system, which comprises a carrying unmanned aerial vehicle, a winch and the grabbing unmanned aerial vehicle, the winch is arranged on the carrying unmanned aerial vehicle, and the winch is connected with the grabbing unmanned aerial vehicle through a rope.

[0031] The utility model has the beneficial effects that:

[0032] The utility model provides a grab device, it includes main body and grab component. Grab component includes two grab arms, one end of two grab arms can rotatably be connected in main body, and the pivot of two grab arms is coaxial arrangement. The other end of grab arm away from pivot is provided with the hanger, and the hanger and grab arm are arranged at the included angle, and two grab arms can rotate around pivot to make two hangers close to each other or away from each other, and two hangers can form the grab state when closing to each other, and the grab of the object to be grabbed is released when two hangers are away from each other. When the object to be grabbed is hung in the middle of two hangers, the gravity of the object to be grabbed is applied to the force of the hanger vertically downward, and the extension line of the force and the central axis of two hangers are approximately coincident, and intersect with the pivot of grab arm, which is beneficial to reduce the moment of inertia of grab arm, prevent two hangers from moving away from each other under the gravity of the object to be grabbed, ensure that grab component maintains the grab state, and avoid the object to be grabbed from falling off. Moreover, for a single grab arm, the force arm between the force received at one end of the hanger and the pivot is zero, which will not generate torque on the single grab arm, avoiding deformation or even breakage of the single grab arm.

[0033] The utility model provides a grab unmanned aerial vehicle, including above -mentioned grab device, grab device can reduce the moment of inertia of grab arm, ensure that grab component maintains the grab state under the gravity of the object to be grabbed, avoid the object to be grabbed from falling off, and avoid deformation or even breakage of the single grab arm, ensure that the grab reliability and safety of grab unmanned aerial vehicle.

[0034] The utility model provides an unmanned aerial vehicle grab system, has above -mentioned grab unmanned aerial vehicle, and the rope of grab unmanned aerial vehicle is received and is placed through winch, and unmanned aerial vehicle grab system has the reliability and safety of grabbing. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 It is the structure schematic diagram of the grab unmanned aerial vehicle with grab device in the utility model embodiment under one visual angle;

[0036] Figure 2 It is the structure front view of the grab unmanned aerial vehicle with grab device in the utility model embodiment;

[0037] Figure 3 It is the structure schematic diagram of the grab unmanned aerial vehicle with grab device in the utility model embodiment under another visual angle;

[0038] Figure 4 It is the structure side view of the grab unmanned aerial vehicle with grab device in the utility model embodiment.

[0039] In the drawing:

[0040] 1, host body; 11, support shaft; 2, grabbing assembly; 21, grabbing arm; 211, avoiding part; 2111, connecting cross arm; 2112, support arm; 212, main arm body; 22, hanging piece; 221, plug-in slot; 222, support part; 3, driving piece; 4, transmission assembly; 41, driving bevel gear; 42, transmission bevel gear; 5, locking assembly; 51, sliding frame; 511, arc-shaped guide surface; 52, locking pin; 53, unlocking elastic piece. DETAILED DESCRIPTION

[0041] The technical solutions of the present application will be described clearly and completely below in combination with the drawings. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in 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.

[0042] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate 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. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions, and moreover, the "above", "above" and "above" of the first feature on the second feature include the first feature above and obliquely above the second feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The "below", "below" and "below" of the first feature on the second feature include the first feature below and obliquely below the second feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0043] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0044] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0045] As shown in Figures 1 to 4 , the present embodiment first provides a grabbing device, which is used for grabbing a to-be-grabbed object. The to-be-grabbed object includes a suspension part. The to-be-grabbed object includes, but is not limited to, a photovoltaic cleaning robot and a robot dog. The present embodiment does not limit the specific shape of the suspension part. For example, the suspension part is a partial ring structure.

[0046] The grabbing device includes a main body 1 and a grabbing assembly 2. The grabbing assembly 2 includes two grabbing arms 21. One end of each of the two grabbing arms 21 is rotatably connected to the main body 1, and the rotation shafts of the two grabbing arms 21 are coaxially arranged. The other end of the grabbing arm 21 away from the rotation shaft is provided with a hanging piece 22. The hanging piece 22 and the grabbing arm 21 are arranged at an angle. The two grabbing arms 21 can rotate around the rotation shaft to make the two hanging pieces 22 close to or away from each other. The two hanging pieces 22 can form a grabbing state when they are close to each other. The grabbing of the to-be-grabbed object is released when the two hanging pieces 22 are away from each other. In the grabbing state, the two hanging pieces 22 are connected to each other, the suspension part is hung on the two hanging pieces 22, and in the vertical direction, the central axis of the two hanging pieces 22 and the rotation shaft of the grabbing arm 21 are located in the same vertical plane. Figure 2 When the to-be-grabbed object is hung on the middle part of the two hanging pieces 22, the gravity of the to-be-grabbed object applies a force to the hanging piece 22 vertically downward. The extension line of the force and the central axis of the two hanging pieces 22 approximately coincide and intersect with the rotation shaft of the grabbing arm 21 (see the dashed line in FIG. 4), which is beneficial to reduce the moment of inertia of the grabbing arm 21, prevent the two hanging pieces 22 from moving away from each other under the action of the gravity of the to-be-grabbed object, ensure that the grabbing assembly 2 maintains the grabbing state, and avoid the to-be-grabbed object from falling off. Moreover, for a single grabbing arm 21, the force arm between the force received by the hanging piece 22 at one end and the rotation shaft is zero, which will not generate a torque on the single grabbing arm 21, thereby avoiding the deformation or even breakage of the single grabbing arm 21, and further ensuring the grabbing reliability of the grabbing device.

[0047] In an embodiment, in the grabbing state, in the vertical direction, one of the two hanging pieces 22 is located above the other, and the two hanging pieces 22 are parallel to each other and are both horizontally arranged, as shown in Figure 2 The two grabbing arms 21 are symmetrically arranged relative to the rotation shaft. In this way, the two grabbing arms 21 and the two hanging pieces 22 arranged in a vertical stack form an isosceles triangle structure, and the rotation shaft is the apex of the isosceles triangle. The central axis of the two hanging pieces 22 is located in the middle of the length direction of the hanging piece 22, and the central axis passes through the apex of the isosceles triangle, Figure 2The middle dotted line shows the middle axis of the two hanging members 22. The trilateral-shaped grabbing assembly 2 has good structural strength and is not easy to deform. Moreover, the two grabbing arms 21 are uniformly stressed, so that the grabbing device is not easy to swing during flight. The end of the upper hanging member 22 abuts against the opposite grabbing arm 21. The lengths and thicknesses of the two hanging members 22 can be the same or different, and the embodiment is not limited in particular.

[0048] The grabbing device further comprises a driving member 3 and a transmission assembly 4. The transmission assembly 4 is transmissionally connected to the output end of the driving member 3 and the two grabbing arms 21. The driving member 3 is used to drive the two grabbing arms 21 to rotate around the rotation shaft simultaneously, and the rotating directions of the two grabbing arms 21 are opposite, that is, one of the two grabbing arms 21 rotates counterclockwise around the rotation shaft, and the other rotates clockwise around the rotation shaft, so as to make the two hanging members 22 approach or move away from each other. The two grabbing arms 21 are driven to move simultaneously by the driving member 3, so that the structure of the grabbing device is simplified, and miniaturization is facilitated.

[0049] In an embodiment, the main body 1 is provided with a support shaft 11, the driving member 3 is a motor, the output shaft of the motor is perpendicular to the support shaft 11, and the transmission assembly 4 comprises a driving bevel gear 41 and two transmission bevel gears 42. The driving bevel gear 41 is connected to the output shaft of the motor. The two transmission bevel gears 42 correspond to the two grabbing arms 21 in a one-to-one manner. The transmission bevel gear 42 is connected to the end of the grabbing arm 21 away from the hanging member 22. The two transmission bevel gears 42 are rotatably connected to the support shaft 11 and are arranged in an axial direction of the support shaft 11. The two transmission bevel gears 42 are respectively engaged with the two sides of the driving bevel gear 41. The driving bevel gear 41 can drive the two transmission bevel gears 42 to rotate reversely simultaneously, and the transmission bevel gears 42 drive the grabbing arms 21 to swing.

[0050] The grabbing arm 21 comprises an avoiding part 211 and a main arm body 212. The avoiding part 211 is in a U shape to form an avoiding space. The avoiding part 211 comprises a connecting cross arm 2111 and two parallel support arms 2112. The two ends of the connecting cross arm 2111 are respectively connected to the two support arms 2112. One of the two support arms 2112 is fixedly connected to the transmission bevel gear 42, and the other is rotatably connected to the support shaft 11. The transmission bevel gear 42 is located in the avoiding space. One end of the main arm body 212 is connected to the connecting cross arm 2111, and the other end is connected to the hanging member 22. During the rotation of the grabbing arm 21 around the support shaft 11, the avoiding part 211 can avoid the transmission bevel gear 42 to avoid rotation interference.

[0051] The two avoiding portions 211 are staggered along the axial direction of the supporting shaft 11, that is, one supporting arm 2112 of one avoiding portion 211 is located in the avoiding space of the other avoiding portion 211, the avoiding spaces of the two avoiding portions 211 are overlapped, and the two transmission bevel gears 42 are located in the overlapped avoiding spaces, so that the rotation of the two grabbing arms 21 does not interfere with any one of the transmission bevel gears 42.

[0052] The main arm bodies 212 of the two grabbing arms 21 are located in the same vertical plane, as shown in Figure 4 which is beneficial to the structural stability of the grabbing assembly 2.

[0053] In an embodiment, the driving member 3 is arranged beside the transmission assembly 4. In the flying state of the grabbing drone, the two grabbing arms 21 are opened to a horizontal state with an included angle of 180°, and therefore, among the two avoiding portions 211, the extension length of one avoiding space is greater than that of the other avoiding space along the length direction of the main arm body 212, so as to avoid the driving member 3.

[0054] In order to further increase the reliability of the grabbing action of the grabbing device and avoid the falling of the to-be-grabbed object, the grabbing device further comprises a locking assembly 5. In an embodiment, in order to match the structure of the locking assembly 5, the upper hanging member 22 is provided with a through guide hole, and the lower hanging member 22 is provided with a plug-in slot 221, and in the grabbing state, the plug-in slot 221 is correspondingly communicated with the guide hole. The locking assembly 5 comprises a sliding frame 51, a locking pin 52 and an unlocking elastic member 53. One end of the sliding frame 51 is slidably connected to one of the two grabbing arms 21 and is arranged above the upper hanging member 22. The sliding frame 51 is provided with the locking pin 52, the locking pin 52 is slidably arranged in the guide hole, and the sliding frame 51 can be hung on the suspension part. When the to-be-grabbed object is in a suspended state, the suspension part can pull the sliding frame 51 to slide downward along the grabbing arm 21, the sliding frame 51 drives the end of the locking pin 52 to be plugged into the plug-in slot 221, so as to realize the locking of the two hanging members 22 and avoid the opening due to the gravity of the to-be-grabbed object, thereby increasing the grabbing reliability. One end of the unlocking elastic member 53 is connected to the sliding frame 51, and the other end is connected to the upper hanging member 22. The unlocking elastic member 53 always has a movement tendency to push the sliding frame 51 to make the locking pin 52 disengage from the plug-in slot 221. Exemplarily, the unlocking elastic member 53 is a compression spring. When the sliding frame 51 slides downward, the unlocking elastic member 53 is compressed. When the to-be-grabbed object is placed on a support (for example, the photovoltaic cleaning robot is placed on the solar photovoltaic panel), the sliding frame 51 is no longer subjected to downward pulling force, the unlocking elastic member 53 releases the elasticity to drive the sliding frame 51 to slide upward, so that the locking pin 52 disengages from the plug-in slot 221. At this time, the driving member 3 can drive the two grabbing arms 21 to rotate and open, so as to prepare for the next grabbing operation.

[0055] The sliding connection between the sliding frame 51 and the grabbing arms 21 can be realized by a sliding groove and a sliding block clamping connection, so as to avoid the sliding frame 51 from being separated from the grabbing arms 21 during sliding. The other end of the sliding frame 51 is provided with a U-shaped groove, and when the two grabbing arms 21 are rotated to the grabbing state, the grabbing arm 21 not connected with the sliding frame 51 can be slidably matched with the U-shaped groove.

[0056] In an embodiment, three lock pins 52 are arranged in parallel along the length direction of the hanging piece 22, and the unlocking elastic member 53 is sleeved on the middle one of the lock pins 52, and the lock pin 52 provides a guide for the unlocking elastic member 53.

[0057] The upper end of the hanging piece 22 has a supporting portion 222 for abutting against the limiting sliding frame 51 to constrain the sliding distance of the sliding frame 51, so that the sliding frame 51 stops sliding when abutting against the supporting portion 222, and the unlocking elastic member 53 is prevented from being excessively compressed.

[0058] The top of the sliding frame 51 has an arc-shaped guide surface 511 recessed towards the hanging piece 22 below, the arc-shaped guide surface 511 guides the suspension part of the object to be grabbed to slide towards the recessed position, so that the gravity of the object to be grabbed acts on the central axes of the two hanging pieces 22, and the grabbing assembly 2 is more uniform in stress.

[0059] The embodiment of the utility model further provides a grabbing unmanned aerial vehicle, the grabbing unmanned aerial vehicle comprises the grabbing device of any one of the above embodiments. The rotation shafts of the two grabbing arms 21 of the grabbing device are coaxially arranged, and the other end of the grabbing arm 21 away from the rotation shaft is provided with a hanging piece 22 arranged at an angle with the grabbing arm 21, when the object to be grabbed is hung on the middle part of the two hanging pieces 22, the gravity of the object to be grabbed is applied to the hanging piece 22 in a vertical downward direction, the extension line of the force is approximately coincident with the central axes of the two hanging pieces 22, and intersects with the rotation shaft of the grabbing arm 21, which is beneficial to reducing the rotational inertia of the grabbing arm 21 and preventing the two hanging pieces 22 from moving away from each other under the gravity of the object to be grabbed, so as to ensure that the grabbing assembly 2 maintains the grabbing state and avoids the object to be grabbed from falling off. Moreover, for a single grabbing arm 21, the force arm between the force received by the single grabbing arm 21 at one end of the hanging piece 22 and the rotation shaft is zero, so that no torque is generated on the single grabbing arm 21, and the deformation or even breakage of the single grabbing arm 21 is avoided, and the grabbing reliability and safety of the grabbing unmanned aerial vehicle are ensured.

[0060] The utility model discloses an unmanned plane grabbing system, unmanned plane grabbing system includes carrying unmanned plane, hoist and above -mentioned grabbing unmanned plane, and hoist sets up on carrying unmanned plane, and hoist is connected with grabbing unmanned plane through rope. Carrying unmanned plane flies to the above of the object to be grabbed, and hoist releases grabbing unmanned plane through rope, and after grabbing unmanned plane grabs the object to be grabbed, hoist recycles grabbing unmanned plane through rope to shift the object to be grabbed. The grabbing device of grabbing unmanned plane has the reliability and security of grabbing, and the rotational inertia of grabbing arm 21 is small, guarantees that grabbing component 2 keeps the state of grabbing, avoids the object to be grabbed to fall off, and prevents the deformation of grabbing arm 21, breaks.

[0061] Obviously, the above embodiments of the utility model are only examples for clearly illustrating the utility model, and are not the limitation of the embodiments of the utility model. For ordinary skilled in the art, can make various obvious changes, readjustment and replacement without departing from the protection scope of the utility model. Here, it is unnecessary and impossible to enumerate all the embodiments. Any modification, equivalent replacement and improvement etc. within the spirit and principle of the utility model should be included in the protection scope of the utility model claim.

Claims

1. A gripping device for gripping an object to be gripped, the object to be gripped including a suspension portion, characterized in that, The grasping device includes: Main body (1); The gripping assembly (2) includes two gripping arms (21), one end of each gripping arm (21) is rotatably connected to the main body (1), and the pivots of the two gripping arms (21) are coaxially arranged. The other end of each gripping arm (21) away from the pivot is provided with a hook (22). The hook (22) and the gripping arm (21) are arranged at an angle. The two gripping arms (21) can rotate around the pivot so that the two hooks (22) are close to each other or far away from each other. In the gripping state, the two hooks (22) are connected to each other, and the suspension part is hung on the two hooks (22). In the vertical direction, the central axis of the two hooks (22) and the pivot are located in the same vertical plane.

2. The gripping device according to claim 1, characterized in that, In the gripping state, along the vertical direction, one of the two hooks (22) is located above the other, the two hooks (22) are parallel to each other and are both horizontally arranged, and the two gripping arms (21) are symmetrically arranged with respect to the pivot.

3. The gripping device according to claim 1, characterized in that, The gripping device further includes a drive member (3) and a transmission assembly (4). The transmission assembly (4) is connected to the output end of the drive member (3) and the two gripping arms (21). The drive member (3) is used to drive the two gripping arms (21) to rotate around the rotating shaft at the same time, and the rotation directions of the two gripping arms (21) are opposite.

4. The gripping device according to claim 3, characterized in that, The main body (1) is provided with a support shaft (11), the driving component (3) is a motor, the output shaft of the motor and the support shaft (11) are perpendicular to each other, and the transmission assembly (4) includes: A drive bevel gear (41) is connected to the output shaft; Two transmission bevel gears (42) are provided, and the two transmission bevel gears (42) correspond one-to-one with the two gripping arms (21). The transmission bevel gears (42) are connected to the end of the gripping arm (21) away from the hook (22). The two transmission bevel gears (42) are rotatably connected to the support shaft (11) and are spaced apart along the axial direction of the support shaft (11). The two transmission bevel gears (42) are respectively meshed on both sides of the drive bevel gear (41). The drive bevel gear (41) can drive the two transmission bevel gears (42) to rotate in opposite directions at the same time.

5. The gripping device according to claim 4, characterized in that, The gripping arm (21) includes: The avoidance part (211) is U-shaped to form an avoidance space. The avoidance part (211) includes a connecting horizontal arm (2111) and two parallel support arms (2112). The two ends of the connecting horizontal arm (2111) are respectively connected to the two support arms (2112). One of the two support arms (2112) is fixedly connected to the transmission bevel gear (42), and the other is rotatably connected to the support shaft (11). The transmission bevel gear (42) is located in the avoidance space. The main arm (212) is connected at one end to the connecting cross arm (2111) and at the other end to the hook (22).

6. The gripping device according to claim 5, characterized in that, Along the axial direction of the support shaft (11), the two clearance portions (211) are staggered. And / or, The main arm bodies (212) of the two gripping arms (21) are located in the same vertical plane.

7. The gripping device according to claim 5, characterized in that, Of the two avoidance sections (211), along the length direction of the main arm body (212), the extension length of one of the avoidance spaces is greater than the extension length of the other avoidance space, so as to avoid the drive member (3).

8. The gripping device according to claim 2, characterized in that, The upper hook (22) has a through guide hole, and the lower hook (22) has an insertion slot (221). In the gripping state, the insertion slot (221) is connected to the guide hole. The gripping device further includes a locking component (5), the locking component (5) comprising: A sliding frame (51) is slidably connected at one end to one of the two gripping arms (21) and is positioned above the hanging member (22). A locking pin (52) is provided on the sliding frame (51), and the locking pin (52) is slidably inserted into the guide hole. The sliding frame (51) can be hooked onto the suspension part. When the object to be gripped is in a suspended state, the suspension part can pull the sliding frame (51) so that the end of the locking pin (52) is inserted into the insertion slot (221). The unlocking elastic element (53) has one end connected to the sliding frame (51) and the other end connected to the hook (22) on it. The unlocking elastic element (53) always has the tendency to push the sliding frame (51) to disengage the locking pin (52) from the insertion slot (221).

9. The gripping device according to claim 8, characterized in that, The upper end of the hook (22) has a support part (222), which is used to abut against and limit the sliding frame (51) to constrain the sliding distance of the sliding frame (51); And / or, The top of the sliding frame (51) has an arc-shaped guide surface (511) that is recessed toward the hook (22) below.

10. A grabbing drone, characterized in that, Includes the gripping device as described in any one of claims 1-9.

11. A drone-grabbing system, characterized in that, The drone grasping system includes a carrier drone, a winch, and a grasping drone as described in claim 10, wherein the winch is mounted on the carrier drone and is connected to the grasping drone via a rope.

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