Mechanical claw and unmanned aerial vehicle

Abstract

The utility model discloses a kind of mechanical claw and unmanned aerial vehicle, mechanical claw includes base, driving part, driving rod, driven rod, first clamping rod and second clamping rod;The driving part is set on the base, the driving shaft of the driving part is connected with the first end of the driving rod;The driving rod and the driven rod are side by side arranged at the lower end of the base, and the driving rod and the driven rod are rotatably arranged relative to base, the first end of the driving rod and the driven rod is equipped with dentiform structure, the driving rod and the driven rod are engaged;The end of the first clamping rod is connected with the second end of the driving rod, the end of the second clamping rod is connected with the second end of the driven rod, the first clamping rod and the second clamping rod are symmetrically arranged.The first clamping rod and the second clamping rod can clamp or release articles, multiple identical articles can be arranged together, so that the first clamping rod and the second clamping rod can be clamped simultaneously, which is beneficial to improve the working efficiency of mechanical claw.

Description

Technical Field

[0001] This utility model relates to the field of mechanical claw technology, and in particular to a mechanical claw and a drone. Background Technology

[0002] Unmanned aerial vehicles (UAVs) are unmanned aircraft controlled by radio remote control equipment and their own program control devices. UAVs have been widely used in many fields. In existing technologies, combining mechanical claws with UAVs has greatly expanded the uses of UAVs themselves.

[0003] Mechanical grippers are a common mechanism in the field of machinery, typically used to grip, transfer, and release materials to other devices.

[0004] However, existing robotic grippers typically grasp items vertically and can only grasp one item at a time, even if the items are the same size. Furthermore, when releasing an item, the item detaches from the gripper slowly, which severely affects the working efficiency of the robotic gripper. Utility Model Content

[0005] In order to overcome the shortcomings of the existing technology, the purpose of this utility model is to provide a mechanical gripper and a drone to solve the technical problem of low working efficiency of mechanical grippers in the existing technology.

[0006] This utility model is achieved by the following technical solution: a mechanical gripper, comprising a base, a driving component, a driving rod, a driven rod, a first clamping rod, and a second clamping rod;

[0007] The driving component is mounted on the base, and the driving shaft of the driving component is connected to the first end of the active rod.

[0008] The driving rod and the driven rod are arranged side by side at the lower end of the base, and both the driving rod and the driven rod are rotatably arranged relative to the base. The first end of both the driving rod and the driven rod is provided with a toothed structure, and the driving rod and the driven rod mesh with each other.

[0009] The end of the first clamping rod is connected to the second end of the driving rod, and the end of the second clamping rod is connected to the second end of the driven rod. The first clamping rod and the second clamping rod are arranged symmetrically.

[0010] In one possible implementation, a first link and a second link are also included;

[0011] One end of the first connecting rod is rotatably connected to the base, and the other end of the first connecting rod is rotatably connected to the first clamping rod.

[0012] One end of the second connecting rod is rotatably connected to the base, and the other end of the second connecting rod is rotatably connected to the second clamping rod.

[0013] In one possible implementation, the drive rod is provided with a connecting groove, a connecting block is provided in the connecting groove, and a connecting hole is provided on the connecting block. The drive shaft of the drive member is inserted into the connecting hole and engages with the connecting block.

[0014] In one possible implementation, the base is provided with a first limiting post and a second limiting post, the driving rod is provided with a first arc-shaped limiting groove, and the driven rod is provided with a second arc-shaped limiting groove. The first limiting post is slidably engaged with the first arc-shaped limiting groove, and the second limiting post is slidably engaged with the second arc-shaped limiting groove.

[0015] In one possible implementation, both the inner surfaces of the first clamp and the second clamp are provided with anti-slip pads.

[0016] In one possible implementation, the ends of both the first clamp and the second clamp are bent inward to form a limiting portion.

[0017] In one possible implementation, the upper end of the base is provided with a positioning plate, which is used for positioning connection with the UAV.

[0018] In one possible implementation, the positioning plate is provided with a PCB board, the PCB board is electrically connected to the driving component, and the PCB board is provided with an interface.

[0019] In one possible implementation, the positioning plate is provided with a positioning pin, both ends of which have a buckle structure, and the two ends of the positioning pin are respectively engaged with the drone and the positioning plate.

[0020] This utility model further provides a drone, including a body and the aforementioned mechanical claw, wherein the mechanical claw is mounted on the body.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows: the driving component can drive the active rod to rotate, and the active rod drives the driven rod to rotate together, so that the first clamping rod and the second clamping rod move inward or outward at the same time, thereby enabling the first clamping rod and the second clamping rod to clamp or release the items. Multiple identical items can be arranged together so that the first clamping rod and the second clamping rod can cooperate to clamp them at the same time, which is beneficial to improving the working efficiency of the mechanical claw. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the mechanical claw of this utility model;

[0023] Figure 2 This is an exploded view of the mechanical gripper of this utility model;

[0024] Figure 3This is a bottom view of the mechanical gripper of this utility model;

[0025] Figure 4 This is a schematic diagram of the mechanical gripper of this utility model in the open state;

[0026] Figure 5 This is a schematic diagram of the active rod in the mechanical claw of this utility model;

[0027] Figure 6 This is a schematic diagram of the structure of the base in the mechanical claw of this utility model;

[0028] Figure 7 This is an exploded view of the positioning plate in the mechanical claw of this utility model.

[0029] In the picture:

[0030] 1. Base; 11. First limiting post; 12. Second limiting post;

[0031] 2. Driving components;

[0032] 3. Active rod; 31. Connecting groove; 32. Connecting block; 321. Connecting hole; 33. First arc-shaped limiting groove;

[0033] 4. Driven rod; 41. Second arc-shaped limiting groove;

[0034] 5. First clamping rod; 51. Anti-slip pad; 52. Limiting part;

[0035] 6. Second clamping rod;

[0036] 7. First link;

[0037] 8. Second link;

[0038] 9. Positioning plate; 91. PCB board; 92. Positioning pin; 93. Positioning hole. Detailed Implementation

[0039] 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 scope of protection of this application.

[0040] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0041] Furthermore, the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0042] like Figure 1-7 The mechanical gripper shown includes a base 1, a drive member 2, a drive rod 3, a driven rod 4, a first clamping rod 5, and a second clamping rod 6. The drive member 2 is mounted on the base 1, and its drive shaft is connected to the first end of the drive rod 3. The drive rod 3 and the driven rod 4 are arranged side by side at the lower end of the base 1, and both the drive rod 3 and the driven rod 4 are rotatably mounted relative to the base 1. The first ends of both the drive rod 3 and the driven rod 4 are provided with toothed structures, and the drive rod 3 and the driven rod 4 mesh with each other. The end of the first clamping rod 5 is connected to the second end of the drive rod 3, and the end of the second clamping rod 6 is connected to the second end of the driven rod 4. The first clamping rod 5 and the second clamping rod 6 are symmetrically arranged. It should be noted that the driving component 2 is preferably an electric servo motor. The driving component 2 is fixed to the base 1 by bolts. The drive shaft of the driving component 2 passes through the bottom plate of the base 1 and is connected to the active rod 3 to drive the active rod 3 to rotate. When the active rod 3 rotates, it can drive the first clamping rod 5 to move inward / outward. At the same time, since the end of the active rod 3 is engaged with the end of the driven rod 4, the rotation of the active rod 3 can also drive the driven rod 4 to rotate, so that the rotation of the driven rod 4 can drive the second clamping rod 6 to move inward / outward. Thus, the first clamping rod 5 and the second clamping rod 6 can move inward / outward at the same time to clamp / release items. Furthermore, the first clamping rod 5 and the second clamping rod 6 have the same structure and are arranged opposite each other. Specifically, the first clamping rod 5 and the second clamping rod 6 are both long strips. When multiple identical items are arranged side by side / in a row, the first clamping rod 5 and the second clamping rod 6 can cooperate to clamp multiple items at the same time to improve work efficiency. Most of the area of ​​the first clamping rod 5 and the second clamping rod 6 is a hollow structure to reduce weight and cost without affecting structural strength.

[0043] The beneficial effects of this utility model are as follows: the driving member 2 can drive the active rod 3 to rotate, and the active rod 3 drives the driven rod 4 to rotate together, so that the first clamping rod 5 and the second clamping rod 6 move inward or outward at the same time, thereby enabling the first clamping rod 5 and the second clamping rod 6 to clamp or release the items. Multiple identical items can be arranged together so that the first clamping rod 5 and the second clamping rod 6 can cooperate to clamp at the same time, which is beneficial to improving the working efficiency of the mechanical claw.

[0044] Please refer to Figures 1 to 4 In one possible implementation, it further includes a first connecting rod 7 and a second connecting rod 8; one end of the first connecting rod 7 is rotatably connected to the base 1, and the other end of the first connecting rod 7 is rotatably connected to the first clamping rod 5; one end of the second connecting rod 8 is rotatably connected to the base 1, and the other end of the second connecting rod 8 is rotatably connected to the second clamping rod 6. It is easy to understand that when the first clamping rod 5 moves, it can drive the first connecting rod 7 to rotate, and when the second clamping rod 6 moves, it can drive the second connecting rod 8 to rotate. The arrangement of the first connecting rod 7 and the second connecting rod 8 can improve the connection strength between the first clamping rod 5 and the second clamping rod 6 and the base 1, which is beneficial to improving the stability of the first clamping rod 5 and the second clamping rod 6, and thus improving the overall stability of the mechanical gripper. Specifically, both ends of the first connecting rod 7 and the second connecting rod 8 are provided with rotating shafts, so that both ends of the first connecting rod 7 are rotatably connected to the base 1 and the first clamping rod 5 respectively, and both ends of the second connecting rod 8 are rotatably connected to the base 1 and the second clamping rod 6 respectively. Furthermore, the driving rod 3, the driven rod 4, the first connecting rod 7 and the second connecting rod 8 are arranged side by side. The first connecting rod 7 is located outside the driving rod 3 and can rotate synchronously with the driving rod 3. The second connecting rod 8 is located outside the driven rod 4 and can rotate synchronously with the driven rod 4.

[0045] Please refer to Figure 5 In one possible implementation, the drive rod 3 is provided with a connecting groove 31, a connecting block 32 is provided in the connecting groove 31, and a connecting hole 321 is provided on the connecting block 32. The drive shaft of the drive member 2 is inserted into the connecting hole 321 and engaged with the connecting block 32. It should be noted that the connecting block 32 can be fixedly connected to the drive rod 3 by bolts. The drive shaft of the drive member 2 is provided with a toothed groove, and the inner wall of the connecting hole 321 is provided with a toothed protrusion. The toothed protrusion is inserted into the toothed groove, so that the drive shaft and the connecting block 32 are engaged. When the drive shaft rotates, it drives the connecting block 32 to rotate, thereby causing the connecting block 32 to drive the drive rod 3 to rotate.

[0046] Please refer to Figure 2 and Figure 6In one possible implementation, the base 1 is provided with a first limiting post 11 and a second limiting post 12, the driving rod 3 is provided with a first arc-shaped limiting groove 33, and the driven rod 4 is provided with a second arc-shaped limiting groove 41. The first limiting post 11 is slidably engaged with the first arc-shaped limiting groove 33, and the second limiting post 12 is slidably engaged with the second arc-shaped limiting groove 41. It should be noted that the extension direction of the first arc-shaped limiting groove 33 is the same as the rotation direction of the active rod 3, and the extension direction of the second arc-shaped limiting groove 41 is the same as the rotation direction of the driven rod 4. The first limiting post 11 extends into the first arc-shaped limiting groove 33 and can slide along the extension direction of the first arc-shaped limiting groove 33. The second limiting post 12 extends into the second arc-shaped limiting groove 41 and can slide along the extension direction of the second arc-shaped limiting groove 41. When the active rod 3 moves inward / outward to its limit position, the first limiting post 11 is located at the end of the first arc-shaped limiting groove 33. The angle at which the active rod 3 can rotate is related to the arc length of the first arc-shaped limiting groove 33. The first limiting post 11 and the first arc-shaped limiting groove 33 cooperate to limit the active rod 3, and the second limiting post 12 and the second arc-shaped limiting groove 41 cooperate to limit the driven rod 4, which greatly improves the stability of the active rod 3 and the driven rod 4.

[0047] Please refer to Figure 1 In one possible implementation, anti-slip pads 51 are provided on the inner surfaces of both the first clamping rod 5 and the second clamping rod 6. It should be noted that the anti-slip pads 51 can be fixed to the inner surfaces of the first clamping rod 5 and the second clamping rod 6 by adhesive, and the width of the anti-slip pads 51 is greater than the width of the first clamping rod 5. The anti-slip pads 51 are in contact with the items to play an anti-slip role, which helps to improve the stability of the mechanical grippers in grasping the items.

[0048] Please refer to Figure 1 In one possible implementation, the ends of both the first clamping rod 5 and the second clamping rod 6 are bent inward to form a limiting portion 52. It is readily understood that the area between the first clamping rod 5 and the second clamping rod 6 is the region for accommodating items, and the limiting portion 52 partially closes the opening of this region, which helps to further improve the stability of the mechanical gripper after it has grasped the item.

[0049] Please refer to Figure 1 In one possible implementation, a positioning plate 9 is provided at the upper end of the base 1, which is used for positioning and connecting with the drone. It should be noted that the positioning plate 9 can be fixedly connected to the base 1 by bolts. When installing the mechanical gripper, it is only necessary to connect the positioning plate 9 to the drone for positioning, which is very convenient.

[0050] Please refer to Figure 7In one possible implementation, a PCB board 91 is provided on the positioning plate 9. The PCB board 91 is electrically connected to the driving component 2, and an interface is provided on the PCB board 91. It is readily understood that the PCB board 91 can be fixed to the positioning plate 9 with bolts. The interface can be a USB interface or a Type-C interface. In practical applications, users can input a pre-written program into the PCB board 91 to control the driving component 2, enabling the driving component 2 to run automatically according to the program. Furthermore, the PCB board 91 can also be connected to the controller on the UAV, allowing the UAV to synchronously control the mechanical gripper, which improves the convenience of cooperation between the mechanical gripper and the UAV.

[0051] Please refer to Figure 7 In one possible implementation, the positioning plate 9 is provided with a positioning pin 92, both ends of which have a snap-fit ​​structure. The two ends of the positioning pin 92 are respectively engaged with the drone and the positioning plate 9. It should be noted that the positioning plate 9 has positioning holes 93 at each of its four corners. The inner wall of the positioning hole 93 has a step. The snap-fit ​​at one end of the positioning pin 92 is inserted into the positioning hole 93 and engages with the step, thereby engaging the positioning pin 92 with the positioning plate 9. Similarly, the snap-fit ​​at the other end of the positioning pin 92 can be inserted into the positioning hole 93 on the drone to engage the positioning pin 92 with the drone, thus realizing the connection between the positioning plate 9 and the drone.

[0052] This utility model further provides a drone, including a body and the aforementioned mechanical claw. The mechanical claw is mounted on the body to improve the drone's working efficiency. Specifically, in this embodiment, the lower bottom surface of the body has a positioning hole 93 that can cooperate with a positioning pin 92. The inner wall of the positioning hole 93 has a step. The undercut structure on the positioning pin 92 can be inserted into the positioning hole 93 to engage with the body, thereby realizing the connection between the mechanical claw and the body.

[0053] The above embodiments are merely preferred embodiments of this utility model and should not be construed as limiting the scope of protection of this utility model. Any non-substantial changes and substitutions made by those skilled in the art based on this utility model shall fall within the scope of protection claimed by this utility model.

Claims

1. A mechanical gripper, characterized in that, It includes a base, a drive component, a drive rod, a driven rod, a first clamping rod, and a second clamping rod; The driving component is mounted on the base, and the driving shaft of the driving component is connected to the first end of the active rod. The driving rod and the driven rod are arranged side by side at the lower end of the base, and both the driving rod and the driven rod are rotatably arranged relative to the base. The first end of both the driving rod and the driven rod is provided with a toothed structure, and the driving rod and the driven rod mesh with each other. The end of the first clamping rod is connected to the second end of the driving rod, and the end of the second clamping rod is connected to the second end of the driven rod. The first clamping rod and the second clamping rod are arranged symmetrically.

2. The mechanical gripper as described in claim 1, characterized in that, It also includes the first link and the second link; One end of the first connecting rod is rotatably connected to the base, and the other end of the first connecting rod is rotatably connected to the first clamping rod. One end of the second connecting rod is rotatably connected to the base, and the other end of the second connecting rod is rotatably connected to the second clamping rod.

3. The mechanical gripper as described in claim 1, characterized in that, The active rod is provided with a connecting groove, a connecting block is provided in the connecting groove, and a connecting hole is provided on the connecting block. The drive shaft of the drive component is inserted into the connecting hole and engaged with the connecting block.

4. The mechanical gripper as described in claim 1, characterized in that, The base is provided with a first limiting post and a second limiting post, the driving rod is provided with a first arc-shaped limiting groove, and the driven rod is provided with a second arc-shaped limiting groove. The first limiting post is slidably engaged with the first arc-shaped limiting groove, and the second limiting post is slidably engaged with the second arc-shaped limiting groove.

5. The mechanical gripper as described in claim 1, characterized in that, Both the first clamping rod and the second clamping rod have anti-slip pads on their inner sides.

6. The mechanical gripper as described in claim 1, characterized in that, The ends of both the first and second clamping rods are bent inward to form a limiting portion.

7. The mechanical gripper as described in claim 1, characterized in that, The upper end of the base is provided with a positioning plate, which is used for positioning connection with the UAV.

8. The mechanical gripper as described in claim 7, characterized in that, The positioning plate is provided with a PCB board, which is electrically connected to the driving component, and the PCB board is provided with an interface.

9. The mechanical gripper as described in claim 7, characterized in that, The positioning plate is provided with a positioning pin, and both ends of the positioning pin have a buckle structure. The two ends of the positioning pin are respectively engaged with the drone and the positioning plate.

10. A drone, characterized in that, It includes a body and a mechanical gripper, the mechanical gripper being mounted on the body, and the mechanical gripper being the mechanical gripper described in any one of claims 1-9.

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