Multi-claw mechanical grabbing device for unmanned aerial vehicle
By employing a hydraulically driven and buffered design for a multi-claw mechanical gripping device, the stability and buffering issues of drones grasping irregular objects are resolved, enabling efficient and stable grasping of objects of various sizes and improving the safety and applicability of drone transportation.
Patent Information
- Application Number
- CN202521985981.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-09-16
- Publication Date
- 2026-08-25
- Estimated Expiration
- 2035-09-16
AI Technical Summary
Existing drone mechanical grasping devices lack stability when grasping irregular objects, are prone to slipping, lack buffering performance, and have a limited grasping range, making them unsuitable for objects of different sizes.
Employing a multi-claw mechanical gripping device, it utilizes a hydraulically driven polygonal base plate and arc-shaped claws, combined with buffer springs and anti-slip textures, to achieve multi-point wrapping gripping, flexibly adjust the gripping angle, and buffer and absorb impact forces.
It improves gripping stability, reduces the slip rate to below 1%, enhances buffering performance, and is suitable for small and medium-sized objects ranging from 50mm to 300mm, reducing drone body vibration and preventing object damage.
Smart Images
Figure CN224676401U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of aircraft transportation technology, specifically a multi-claw mechanical gripping device for unmanned aerial vehicles (UAVs). Background Technology
[0002] With their advantages of flexibility, efficiency, and low cost, drones have been widely penetrated into various fields, from consumer entertainment to industrial production, from public services to military defense, and their application scenarios are constantly expanding. In the field of logistics and delivery, drone logistics focuses on "short distance, high frequency, and remote areas" as its core scenarios, solving the delivery problems caused by inconvenient transportation.
[0003] Currently, traditional drone delivery systems mostly use fixed racks to place goods, which imposes strict requirements on the size and type of the transported goods. Furthermore, drones struggle to maintain stability during flight, often exhibiting swaying, thus affecting flight safety. Specifically, current drone-mounted mechanical gripping devices generally suffer from the following technical shortcomings: First, insufficient gripping stability. Most single-claw or double-claw structures are prone to slipping when gripping irregular objects (such as cylindrical pipes or polygonal parts), especially in scenarios where the drone hovers and experiences slight swaying, significantly increasing the failure rate. Second, lack of cushioning performance. Traditional gripping devices are often rigidly connected to the drone body, allowing the instantaneous impact force upon contact with the object during gripping to be easily transmitted to the drone body. This can lead to not only flight instability but also crush damage to the gripped object (such as fragile items or precision components). Third, limited gripping range. Existing devices have fixed claw opening angles, making them unsuitable for gripping targets of different sizes. When gripping objects with significantly different diameters, different gripping devices must be used, resulting in cumbersome operation and limited applicability.
[0004] To address this, we provide a hydraulic cargo gripping robotic arm. Utility Model Content
[0005] The purpose of this invention is to provide a multi-claw mechanical grasping device for unmanned aerial vehicles (UAVs) to solve the problems mentioned in the background art.
[0006] To achieve the above objectives, this utility model provides the following technical solution: A multi-claw mechanical gripping device for unmanned aerial vehicles (UAVs) includes a flange connected to the bottom of the UAV. A buffer seat is provided at the bottom of the flange. Multiple support rods are evenly arranged circumferentially on the bottom plate of the buffer seat. A hydraulic mechanism is also connected to the center of the bottom of the bottom plate. The driving end of the hydraulic mechanism is connected to a movable connecting block through a transmission component. The other end of each support rod is connected to a fixed connecting block. A driving link and a driven link are connected between adjacent fixed connecting blocks. A small link is also provided between the driving link and the movable connecting block. The ends of the driving link and the driven link away from the fixed connecting block are both connected to the gripping claws.
[0007] More preferably, the flange surface edge is provided with a plurality of connection holes, which are used to fix the UAV to the bottom with bolts.
[0008] More preferably, the buffer seat includes a fixed end connected to the flange, a movable end is sleeved inside the fixed end, and a buffer spring is provided inside the fixed end and the movable end.
[0009] More preferably, the base plate has a polygonal structure, and a first connecting ear is provided on the outer side of the center of each side of the base plate, and a second connecting ear is provided on the outer side of each fixed connecting block, and the first connecting ear and the second connecting ear are provided in a one-to-one correspondence with each other.
[0010] More preferably, a support rod is provided between the first connecting ear and the second connecting ear, and the two ends of the support rod are fixedly connected between the first connecting ear and the second connecting ear by welding or bolting.
[0011] More preferably, the movable connecting block includes a central column connected to the bottom of the transmission component, and a plurality of hinge seats are provided on the outer circumferential side of the central column corresponding to the small connecting rod. The hinge seats and the small connecting rod are movably connected by hinges.
[0012] More preferably, each of the fixed connecting blocks is symmetrically provided with a first hinge hole and a second hinge hole at both ends. The driving connecting rod is connected between adjacent fixed connecting blocks through a hinge shaft and the first hinge hole, and the driven connecting rod is connected between adjacent fixed connecting blocks through a hinge shaft and the second hinge hole.
[0013] More preferably, the gripping claw includes symmetrically arranged arc-shaped claw bodies, the surface of which is symmetrically provided with a third hinge hole and a fourth hinge hole, the driving link is connected between the symmetrically arranged arc-shaped claw bodies through a hinge shaft and the third hinge hole, and the driven link is connected between the symmetrically arranged arc-shaped claw bodies through a hinge shaft and the fourth hinge hole.
[0014] More preferably, the arc-shaped inner surface of the claw body is provided with anti-slip texture or wear-resistant pad.
[0015] More preferably, a plurality of mounting holes are evenly provided at the center of the bottom of the base plate, and the hydraulic mechanism is fixedly connected to the center of the bottom of the base plate through the mounting holes and bolts.
[0016] Compared with the prior art, the beneficial effects of this utility model are: With multiple circumferentially distributed grippers, the number matching the number of sides of the base plate's polygon, and in conjunction with the coordinated transmission of drive and driven links, multi-point enveloping gripping of irregular objects can be achieved. The gripping contact area is increased by 3-5 times compared to traditional dual-claw structures, and the slippage rate is reduced to below 1%. Simultaneously, the anti-slip texture on the inner surface of the curved gripper, preferably a diamond pattern with a depth of 0.5-1mm, or the wear-resistant pad made of nitrile rubber with a thickness of 2-3mm, further increases the gripping friction, ensuring stable gripping even when the drone encounters momentary airflow disturbances.
[0017] The fixed and movable ends of the buffer seat are connected by a buffer spring made of 65Mn spring steel with an elastic coefficient of 50-80N / mm. When the gripper contacts the object, the buffer spring can absorb more than 80% of the instantaneous impact force, effectively isolating the vibration transmission of the gripping action to the drone body and avoiding the loss of the drone's attitude.
[0018] The hydraulic mechanism drives the movable connecting block to move up and down via a transmission component, allowing for flexible adjustment of the gripper's opening and closing angle. When the movable connecting block moves upward, a small connecting rod pulls the drive link, causing the gripper to retract inward, with a minimum gripping diameter of 50mm. When the movable connecting block moves downward, the drive link pushes the gripper to open outward, with a maximum gripping diameter of 300mm. This design is suitable for most small and medium-sized objects (weight ≤10kg) in industrial settings, enabling the gripping of multiple sizes of targets without changing the gripping components. Attached Figure Description
[0019] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the hydraulic mechanism and drive linkage connection of this utility model; Figure 3 This is a schematic diagram showing the connection between the gripping claw and the fixed connecting block of this utility model; Figure 4 This is a schematic diagram of the buffer seat structure of this utility model; Figure 5 This is a bottom view of the base plate structure of this utility model; In the diagram: 1. Flange; 2. Buffer seat; 3. Base plate; 4. Support rod; 5. Hydraulic mechanism; 6. Transmission component; 7. Movable connecting block; 8. Small connecting rod; 9. Drive connecting rod; 10. Fixed connecting block; 11. Driven connecting rod; 12. Gripping claw; 13. First hinge hole; 14. Second hinge hole; 15. Third hinge hole; 16. Fourth hinge hole; 17. Mounting hole. Detailed Implementation
[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0021] Please see Figures 1-5 This utility model provides a technical solution: A multi-claw mechanical gripping device for unmanned aerial vehicles (UAVs) includes a flange 1 connected to the bottom of the UAV. A buffer seat 2 is provided at the bottom of the flange 1. A base plate 3 at the bottom of the buffer seat 2 is evenly provided with multiple support rods 4 around its circumference. A hydraulic mechanism 5 is also connected to the center of the bottom of the base plate 3. The driving end of the hydraulic mechanism 5 is connected to a movable connecting block 7 through a transmission component 6. The other end of each support rod 4 is connected to a fixed connecting block 10. A driving link 9 and a driven link 11 are connected between adjacent fixed connecting blocks 10. A small link 8 is also provided between the driving link 9 and the movable connecting block 7. The ends of the driving link 9 and the driven link 11 away from the fixed connecting block 10 are both connected to the gripping claw 12.
[0022] In this invention, multiple connection holes are evenly distributed along the edge of the flange 1 surface. These connection holes are used to fix the flange 1 to the bottom of the drone with bolts. The flange 1 is bolted to the standard mounting interface on the bottom of the drone through multiple connection holes, preferably 6-8, with a hole diameter of 10-12mm, thus reducing the installation and disassembly time to less than 5 minutes.
[0023] In this utility model, the buffer seat 2 includes a fixed end connected to the flange 1, a movable end is sleeved inside the fixed end, and a buffer spring is provided inside the fixed end and the movable end.
[0024] In this invention, the base plate 3 has a polygonal structure. A first connecting ear is provided on the outer side of the center of each side of the base plate 3, and a second connecting ear is provided on the outer side of each fixed connecting block 10. The first connecting ear and the second connecting ear are arranged in a one-to-one correspondence. A support rod 4 is provided between the first connecting ear and the second connecting ear. The two ends of the support rod 4 are fixedly connected between the first connecting ear and the second connecting ear by welding or bolting.
[0025] In this utility model, the movable connecting block 7 includes a central column connected to the bottom of the transmission component 6. A plurality of hinge seats are provided on the outer circumferential side of the central column corresponding to the small connecting rod 8. The hinge seats and the small connecting rod 8 are movably connected by hinges.
[0026] In this utility model, each fixed connecting block 10 is symmetrically provided with a first hinge hole 13 and a second hinge hole 14 at both ends. The driving connecting rod 9 is connected between adjacent fixed connecting blocks 10 through the hinge shaft and the first hinge hole 13. The driven connecting rod 11 is connected between adjacent fixed connecting blocks 10 through the hinge shaft and the second hinge hole 14.
[0027] In this invention, the gripper 12 includes symmetrically arranged arc-shaped gripper bodies. A third hinge hole 15 and a fourth hinge hole 16 are symmetrically arranged on the surface of each arc-shaped gripper body. A drive link 9 is connected to the symmetrically arranged arc-shaped gripper bodies via a hinge shaft engaging the third hinge hole 15. A driven link 11 is connected to the symmetrically arranged arc-shaped gripper bodies via a hinge shaft engaging the fourth hinge hole 16. The arc-shaped inner surface of the gripper body is provided with an anti-slip texture or a wear-resistant pad.
[0028] In this invention, multiple mounting holes 17 are evenly distributed at the center of the bottom of the base plate 3. The hydraulic mechanism 5 is fixedly connected to the center of the bottom of the base plate 3 through the mounting holes 17 and bolts. The hydraulic mechanism 5 is detachably connected through 4-6 evenly distributed mounting holes 17 at the bottom of the base plate 2. When the hydraulic system fails, it can be replaced individually without disassembling the entire gripping device, improving maintenance efficiency by 40%. In this utility model, the hydraulic mechanism 5 is a miniature hydraulic push rod with a stroke of 80mm, a rated thrust of 1000N, and a working voltage of 24V. It is fixed to the bottom center of the base plate 3 by four M10 bolts.
[0029] Example: Grabbing preparation: The drone hovers 50-100mm above the target object. After receiving the control signal, the hydraulic mechanism 5 drives the transmission component 6 to push the movable connecting block 7 downward. The movable connecting block 7 drives the drive connecting rod 9 to unfold outward through the small connecting rod 8. The drive connecting rod 9 and the driven connecting rod 11 work together to make the gripper 12 open outward with the fixed connecting block 10 as the fulcrum. The opening angle reaches 60°. At this time, the maximum opening diameter of the gripper is 300mm. Grasping action: The drone slowly descends, bringing the target object into the enclosure of multiple gripping claws 12. The hydraulic mechanism 5 reverses the drive of the transmission component 6, pulling the movable connecting block 7 upward. The small connecting rod 8 pulls the drive connecting rod 9 inward, causing the gripping claws 12 to gradually close until the arc-shaped claw body completely adheres to the surface of the target object. Stable contact is formed with the object through the anti-slip pad. At this time, the hydraulic mechanism 5 maintains 60% of the rated thrust to achieve clamping and fixation. Grab and move: If the drone encounters airflow disturbance during the movement of the object it is carrying, the buffer spring in the buffer seat 2 will expand and contract in real time according to the amplitude of the body shaking, absorb vibration energy, and prevent relative displacement between the object and the gripper 12. Release action: After the drone reaches the target position, the hydraulic mechanism 5 drives the transmission component 6 to move downward again, the movable connecting block 7 pushes the drive linkage 9 to unfold, the gripper 12 opens, and the object is released smoothly.
[0030] Performance test results: Grasping stability: In an environment with wind speed ≤5m / s, it can grasp objects with a diameter of 50-300mm and a weight of 1-10kg, including cylindrical steel pipes, square aluminum blocks and ceramic cans. After 50 consecutive tests, the success rate of grasping is 100% and there is not a single slip. Buffering effect: When grabbing a 5kg glass jar, the impact force at the moment of contact is reduced to 3.2N after passing through the buffer seat 2, and the glass jar is not damaged. The drone's body attitude deviation is ≤0.5°. Structural strength: After continuously gripping a 15kg cast iron block for 30 minutes, the support rod 4 and drive linkage 9 showed no obvious deformation, and the bolts at the connection points were not loose.
[0031] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.
[0032] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.
Claims
1. A multi-claw mechanical gripping device for unmanned aerial vehicles (UAVs), comprising a flange (1) connected to the bottom of the UAV, characterized in that: The flange (1) is provided with a buffer seat (2) at the bottom. The bottom plate (3) of the buffer seat (2) is provided with multiple support rods (4) evenly arranged around the perimeter. The bottom center of the bottom plate (3) is also connected to a hydraulic mechanism (5). The driving end of the hydraulic mechanism (5) is connected to a movable connecting block (7) through a transmission component (6). The other end of each support rod (4) is connected to a fixed connecting block (10). A driving link (9) and a driven link (11) are connected between adjacent fixed connecting blocks (10). A small link (8) is also provided between the driving link (9) and the movable connecting block (7). The ends of the driving link (9) and the driven link (11) away from the fixed connecting block (10) are both connected to the gripper (12).
2. The multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: Multiple connection holes are evenly provided on the edge of the flange (1), and the connection holes are fixed to the bottom of the UAV with bolts.
3. The multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: The buffer seat (2) includes a fixed end connected to the flange (1), a movable end is sleeved inside the fixed end, and a buffer spring is provided inside the fixed end and the movable end.
4. The multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: The base plate (3) has a polygonal structure. A first connecting ear is provided on the outer side of the center of each side of the base plate (3), and a second connecting ear is provided on the outer side of each fixed connecting block (10). The first connecting ear and the second connecting ear are provided in a one-to-one correspondence.
5. A multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 4, characterized in that: A support rod (4) is provided between the first connecting ear and the second connecting ear. The two ends of the support rod (4) are fixedly connected between the first connecting ear and the second connecting ear by welding or bolting.
6. The multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: The movable connecting block (7) includes a central column connected to the bottom of the transmission component (6). The outer circumferential side of the central column is provided with multiple hinge seats corresponding to the small connecting rod (8). The hinge seats and the small connecting rod (8) are movably connected by hinges.
7. A multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: Each of the fixed connecting blocks (10) is symmetrically provided with a first hinge hole (13) and a second hinge hole (14) at both ends. The driving link (9) is connected between adjacent fixed connecting blocks (10) through a hinge shaft and the first hinge hole (13). The driven link (11) is connected between adjacent fixed connecting blocks (10) through a hinge shaft and the second hinge hole (14).
8. A multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: The gripper (12) includes symmetrically arranged arc-shaped claw bodies. The surface of the arc-shaped claw bodies is symmetrically provided with a third hinge hole (15) and a fourth hinge hole (16). The drive link (9) is connected between the symmetrically arranged arc-shaped claw bodies through a hinge shaft and the third hinge hole (15). The driven link (11) is connected between the symmetrically arranged arc-shaped claw bodies through a hinge shaft and the fourth hinge hole (16).
9. A multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 8, characterized in that: The inner surface of the arc-shaped claw is provided with anti-slip texture or wear-resistant pad.
10. A multi-claw mechanical gripping device for unmanned aerial vehicles according to claim 1, characterized in that: The bottom center of the base plate (3) is also provided with a plurality of mounting holes (17), and the hydraulic mechanism (5) is fixedly connected to the bottom center of the base plate (3) through the mounting holes (17) and bolts.