Unmanned aerial cargo gripper

Abstract

The utility model discloses a kind of unmanned aerial vehicle load use gripper, belong to aerospace technology field, its technical scheme main points include unmanned aerial vehicle body, the bottom of the unmanned aerial vehicle body is movably connected with mounting mechanism, the inside of the mounting mechanism is movably connected with elastic component, can be lifted through brass shaft sleeve hinged adaptability, the quality of front light rear heavy is matched with front grab hook weight-reducing hole optimization overall weight, synchronous drive realizes the accurate consistency of the action of front grab hook and rear grab hook, stress balance, effectively solve the existing fixed mounting ring poor adaptability and easily damaged mounting object due to landing impact, and the weight of independent drive clamping jaw is big, and the problem of insufficient synchronism of grabbing, guarantee the stability of the process of grabbing and releasing smooth, can effectively solve the potential problem that mounting article when grabbing structure is easily damaged due to impact or pressure, mounting object is unstable, guarantee the stability and security of mounting process.

Description

Technical Field

[0001] This utility model relates to the field of aerospace technology, and in particular to a gripper for unmanned aerial vehicles (UAVs) carrying heavy loads. Background Technology

[0002] The demand for drone-borne grippers has increased due to the "pick-up-transport-delivery" needs in scenarios such as logistics delivery and emergency rescue. Traditional grippers are mostly under-mounted, which can easily lead to center of gravity shift and flight control instability. Moreover, solutions such as magnetic suction and rigid grippers have poor adaptability to cargo and limited load capacity. To overcome this bottleneck, the technology is developing towards center of gravity optimization and flexible self-adaptation, combined with biomimetic structures or new drive systems to improve load capacity and gripping stability.

[0003] In existing technologies, the gripper technology for carrying the payload of existing UAVs typically uses a fixed mounting ring or an independently driven gripper. The fixed mounting ring has poor adaptability and is easily damaged by landing impact, while the independently driven gripper has problems such as heavy weight and insufficient grasping synchronization.

[0004] To address this, a gripper for unmanned aerial vehicles (UAVs) carrying heavy loads is proposed. Utility Model Content

[0005] The purpose of this invention is to provide a gripper for carrying heavy loads on unmanned aerial vehicles (UAVs), which can solve the problems of poor adaptability, impact damage, large weight, and insufficient synchronization of existing grippers.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a gripper for carrying payloads on unmanned aerial vehicles (UAVs), comprising a UAV body, a mounting mechanism movably connected to the bottom of the UAV body, an elastic component movably connected to the inner side of the mounting mechanism, the mounting mechanism including a support box, the support box being fixedly connected to the bottom of the UAV body, two support sliders movably connected to the bottom of the support box, the elastic component movably connected to the bottom of the two support sliders, two synchronization blocks fixedly connected to the bottom of the elastic component, and a front gripping hook and a rear gripping hook respectively rotatably connected to the bottom of the two synchronization blocks, a driving component movably connected to the top of the support sliders, and the driving component movably connected to the inner side of the support box.

[0007] Preferably, the elastic component includes two sets of telescopic guide rods, one end of which is rotatably connected to the front and rear sides of the support slider, and the other end of which is rotatably connected to the front and rear sides of the top of the synchronization block, and the two sets of telescopic guide rods are distributed in a figure-eight shape.

[0008] Preferably, the bottom of the telescopic guide rod is fixedly connected to a telescopic support column, and the other end of the telescopic support column is fixedly connected to the top of the synchronization block, and the telescopic support column is set on one side opposite to the two sets of telescopic guide rods.

[0009] Preferably, tension springs are fitted onto the outer sides of both the telescopic guide rod and the telescopic support column.

[0010] Preferably, the drive component includes a servo motor, which is fixedly connected to the bottom of the UAV body, and a rotating block is fixedly connected to the output end of the servo motor.

[0011] Preferably, both sides of the rotating block are rotatably connected to linkage rods, and the other ends of the two linkage rods are respectively rotatably connected to the top of the support slider.

[0012] Preferably, a brass bushing is hinged between the front gripper hook and the rear gripper hook.

[0013] Preferably, the inner side of the front gripper hook is provided with a weight reduction hole.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This application improves adaptability by setting up a mounting mechanism and using brass bushing hinges. The front-light and rear-heavy material, combined with the weight reduction hole of the front grab hook, optimizes the overall weight. Synchronous drive achieves precise consistency and balanced force of the front and rear grab hooks. It effectively solves the problems of poor adaptability of existing fixed mounting rings and easy damage to the mounted object due to landing impact, as well as the problems of heavy weight and insufficient grasping synchronization of independent drive grippers, ensuring the stability and smoothness of the grasping and release process.

[0016] 2. This application incorporates an elastic component that allows for cushioning by having a synchronous block sink downwards with the weight of the attached item. Two sets of diagonally telescopic guide rods arranged in a figure-eight shear pattern extend and narrow their bottom openings when pulled by the item. The central vertical telescopic support extends radially when stretched, and the tension springs on the outer sides of both rods store elastic potential energy during stretching, which can relieve force and reduce pressure at the connection point. This effectively solves the potential problems of structural damage and instability of the attached item due to impact or pressure when attaching items to the gripping structure, ensuring the stability and safety of the attachment process. Attached Figure Description

[0017] Figure 1 This is an overall structural diagram of the unmanned aerial vehicle (UAV) payload gripper of this utility model.

[0018] Figure 2 This is a partial structural diagram of the gripper for unmanned aerial vehicle (UAV) payload of this utility model;

[0019] Figure 3 This is an overall structural diagram of the mounting mechanism of this utility model;

[0020] Figure 4 This is an overall structural diagram of the drive component of this utility model;

[0021] Figure 5This is an overall structural diagram of the elastic component of this utility model.

[0022] In the diagram, 1. UAV body; 2. Mounting mechanism; 21. Support box; 22. Support slider; 23. Synchronization block; 24. Front gripper hook; 25. Rear gripper hook; 26. Drive assembly; 2601. Servo motor; 2602. Rotating block; 2603. Linkage rod; 3. Elastic assembly; 31. Telescopic guide rod; 32. Telescopic support column; 33. Tension spring; 4. Brass bushing; 5. Weight reduction hole. Detailed Implementation

[0023] 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.

[0024] Please see Figure 1-5 The present invention provides the following technical solution:

[0025] A gripper for carrying payloads on a drone includes a drone body 1. A mounting mechanism 2 is movably connected to the bottom of the drone body 1. An elastic component 3 is movably connected to the inner side of the mounting mechanism 2. The mounting mechanism 2 includes a support box 21, which is fixedly connected to the bottom of the drone body 1. Two support sliders 22 are movably connected to the bottom of the support box 21. The elastic component 3 is movably connected to the bottom of the two support sliders 22. Two synchronization blocks 23 are fixedly connected to the bottom of the elastic component 3. A front gripping hook and a rear gripping hook are rotatably connected to the bottom of the two synchronization blocks 23, respectively. A drive component 24 is movably connected to the top of the support sliders 22, and the drive component 24 is movably connected to the inner side of the support box 21.

[0026] In this embodiment, the gripping structure consists of a front gripper hook and a rear gripper hook, which are hinged together by a brass bushing 4 to improve gripping adaptability. The front gripper hook is lighter than the rear gripper hook, and the rear gripper hook has multiple weight-reducing holes 5 on its inner side. This design optimizes the overall weight while ensuring gripping stability. The tops of both the front and rear grippers are rotatably connected to a synchronization block 23. The center distance between the two synchronization blocks 23 is equal. The gripping process is synchronously driven. When the two synchronization blocks 23 move inward simultaneously to reduce the distance, the tops of the front and rear grippers rotate along the bottom of the synchronization block 23 and the center rotates along the center of the brass bushing 4. The bottoms converge inward to achieve gripping, and vice versa, releasing the gripper hook. This ensures that the gripping action is precise and consistent, and the force is balanced, avoiding the problem of unilateral deviation. The drive component 24 enables the synchronization block 23 to drive the front and rear grippers hooks, ensuring the gripping process unfolds.

[0027] Specifically, such as Figure 2 , Figure 5 As shown, the elastic component 3 includes two sets of telescopic guide rods 31. One end of each set of telescopic guide rods 31 is rotatably connected to the front and rear sides of the support slider 22, respectively. The other end of each set of telescopic guide rods 31 is rotatably connected to the front and rear sides of the top of the synchronizing block 23, respectively. The two sets of telescopic guide rods 31 are distributed in a figure-eight shape.

[0028] Specifically, such as Figure 2 , Figure 5 As shown, a telescopic support column 32 is fixedly connected to the bottom of the telescopic guide rod 31, and the other end of the telescopic support column 32 is fixedly connected to the top of the synchronization block 23. The telescopic support column 32 is located on one side opposite to the two sets of telescopic guide rods 31.

[0029] Specifically, such as Figure 2 , Figure 5 As shown, tension springs 33 are sleeved on the outer sides of both the telescopic guide rod 31 and the telescopic support column 32.

[0030] In this embodiment: the support slider 22 and the synchronization block 23 are connected by an elastic element. When an item is hung, the synchronization block 23 will sink. The two sets of inclined telescopic guide rods 31 in the elastic element are respectively rotatably connected to the bottom sides of the support slider 22 and the top sides of the synchronization block 23. They are distributed in a figure-eight shear pattern, which will lengthen and reduce the opening at the bottom of the figure-eight. The central vertical telescopic support column 32 will be stretched, and the tension springs 33 on the outside of the telescopic guide rods 31 and the telescopic support column 32 will accumulate elastic potential energy, thereby dissipating force and reducing pressure to achieve load buffering.

[0031] Specifically, such as Figure 3 , Figure 4 As shown, the drive component 24 includes a servo motor 2401, which is fixedly connected to the bottom of the UAV body 1, and a rotating block 2402 is fixedly connected to the output end of the servo motor 2401.

[0032] Specifically, such as Figure 3 , Figure 4 As shown, both sides of the rotating block 2402 are rotatably connected to the linkage rods 2403, and the other ends of the two linkage rods 2403 are respectively rotatably connected to the top of the support slider 22.

[0033] In this embodiment: by activating the small servo motor 2401 at the bottom of the UAV body 1, the rotating block 2402 at its output end rotates. The linkage rods 2403 on both sides of the rotating block 2402 pull or push the two support sliders 22 connected to each other. The support sliders 22 slide directionally at the bottom of the support box 21, moving inward or outward. The synchronization block 23 is connected to the support sliders 22 through an elastic element, thereby driving the front gripper hook and the rear gripper hook to ensure gripping and unfolding.

[0034] Specifically, such as Figure 3 As shown, a brass bushing 4 is hinged between the front and rear grab hooks.

[0035] Specifically, such as Figure 1 , Figure 2 As shown, a weight-reducing hole 5 is provided on the inner side of the front gripper hook.

[0036] In this embodiment: the front and rear gripping hooks are hinged together by a brass bushing 4, and the front gripping hook is lighter than the rear gripping hook. Multiple weight-reducing holes 5 are provided on the inner side of the rear gripping hook. The hinged connection by the brass bushing 4 improves the gripping adaptability. The material that is lighter in the front and heavier in the back, combined with the weight-reducing holes 5 of the rear gripping hook, optimizes the overall weight while ensuring gripping stability.

[0037] Working Principle: In existing UAV body-mounted gripper technology, fixed mounting rings or independently driven grippers are commonly used. Fixed mounting rings have poor adaptability and are easily damaged by landing impacts, while independently driven grippers suffer from high weight and insufficient gripping synchronization. To avoid these issues, a gripping structure consisting of a front and rear gripper hook is used. The front and rear grippers are hinged at their centers by a brass bushing 4. The front gripper hook is lighter than the rear gripper hook, and multiple weight-reducing holes 5 are provided on the inner side of the rear gripper hook. The hinge with the brass bushing 4 improves gripping adaptability. The front-light and rear-heavy material, combined with the weight-reducing holes 5 in the rear gripper hook, optimizes the overall weight while ensuring gripping stability. The gripping process of the front and rear grippers is synchronously driven. Each grab hook has a rotatable synchronizing block 23 at its top. The center distance between the two synchronizing blocks 23 is equal. When the two synchronizing blocks 23 move inward simultaneously, their distance decreases, causing the tops of the front and rear grab hooks to rotate along the bottoms of the two synchronizing blocks 23 respectively. Simultaneously, the center positions of the front and rear grab hooks rotate along the center of the brass bushing 4, creating an effect where the bottoms of the front and rear grab hooks rotate inward and converge, thus achieving a grab. Conversely, moving inward results in a release. This achieves precise and consistent grabbing action with balanced force, avoiding unstable grabbing or unsmooth release due to unilateral offset. The main synchronous drive method is to activate a small servo motor 2401 embedded in the bottom of the UAV body 1, causing the rotating block 2402 located at the output end of the servo motor 2401 to rotate. Both sides of the rotating block 2402 are rotatably connected to linkage rods 2403, and the other ends of the two linkage rods 2403 are rotatably connected to the outer sides of the two support sliders 22. When the rotating block 2402 rotates, it acts on the linkage rods 2403 on both sides, causing them to pull or push the two support sliders 22 simultaneously, making them move inward and outward at the same time. The support sliders 22 slide at the bottom of the support box 21 and can only slide in a specific direction. The synchronization block 23 is connected to the support sliders 22 through an elastic element, thereby realizing the driving of the front and rear grippers by the synchronization block 23, ensuring the unfolding of the gripping phase. Furthermore, the support sliders 22 and the synchronization block 23 are connected by an elastic element. When an item is hung at the bottom, the synchronization block 23 will move downward. To achieve a cushioning effect, the elastic element mainly includes two sets of oblique telescopic guide rods 31. The two ends of each telescopic guide rod 31 are rotatably connected to the bottom sides of the support slider 22 and the top sides of the synchronization block 23, respectively, arranged in a figure-eight shear pattern. When pulled by an object below, the length of the telescopic guide rod 31 extends and the size of the opening at the bottom of the figure-eight pattern decreases. A vertically distributed telescopic support column 32 is also provided between the support slider 22 and the synchronization block 23. This telescopic support column 32 is located at the center and stretches radially when stretched. Both the telescopic support column 32 and the telescopic guide rod 31 are fitted with tension springs 33, which accumulate elastic potential energy for rebound when the telescopic support column 32 and the telescopic guide rod 31 are stretched.This relieves and reduces pressure at the connection point, thus buffering the load situation and optimizing the gripper for UAV payloads.

[0038] The above are merely preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripper for carrying payloads on unmanned aerial vehicles (UAVs), comprising the UAV body (1), characterized in that: The bottom of the UAV body (1) is movably connected to a mounting mechanism (2), and the inner side of the mounting mechanism (2) is movably connected to an elastic component (3). The mounting mechanism (2) includes a support box (21), which is fixedly connected to the bottom of the UAV body (1). The bottom of the support box (21) is movably connected to two support sliders (22), and the elastic component (3) is movably connected to the bottom of the two support sliders (22). The bottom of the elastic component (3) is fixedly connected to two synchronization blocks (23), and the bottom of the two synchronization blocks (23) is rotatably connected to a front gripping hook and a rear gripping hook, respectively. The top of the support sliders (22) is movably connected to a drive component (24), and the drive component (24) is movably connected to the inner side of the support box (21).

2. The gripper for carrying payloads on a drone according to claim 1, characterized in that: The elastic component (3) includes two sets of telescopic guide rods (31). One end of each set of telescopic guide rods (31) is rotatably connected to the front and rear sides of the support slider (22), and the other end of each set of telescopic guide rods (31) is rotatably connected to the front and rear sides of the top of the synchronizing block (23). The two sets of telescopic guide rods (31) are distributed in a figure-eight shape.

3. A gripper for carrying payloads on a drone according to claim 2, characterized in that: The bottom of the telescopic guide rod (31) is fixedly connected to a telescopic support column (32), and the other end of the telescopic support column (32) is fixedly connected to the top of the synchronization block (23). The telescopic support column (32) is set on the opposite side of the two sets of telescopic guide rods (31).

4. A gripper for carrying payloads on a drone according to claim 3, characterized in that: The telescopic guide rod (31) and the telescopic support column (32) are both fitted with tension springs (33) on their outer sides.

5. A gripper for carrying payloads on a drone according to claim 1, characterized in that: The drive assembly (24) includes a servo motor (2401), which is fixedly connected to the bottom of the UAV body (1), and a rotating block (2402) is fixedly connected to the output end of the servo motor (2401).

6. A gripper for carrying payloads on a drone according to claim 5, characterized in that: Both sides of the rotating block (2402) are rotatably connected to linkage rods (2403), and the other ends of the two linkage rods (2403) are respectively rotatably connected to the top of the support slider (22).

7. A gripper for carrying payloads on a drone according to claim 1, characterized in that: A brass bushing (4) is hinged between the front and rear grab hooks.

8. A gripper for carrying payloads on a drone according to claim 1, characterized in that: The inner side of the front gripper hook is provided with a weight reduction hole (5).

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