CN106239541A - A kind of light-duty paw of unmanned plane - Google Patents
A kind of light-duty paw of unmanned plane Download PDFInfo
- Publication number
- CN106239541A CN106239541A CN201610835260.XA CN201610835260A CN106239541A CN 106239541 A CN106239541 A CN 106239541A CN 201610835260 A CN201610835260 A CN 201610835260A CN 106239541 A CN106239541 A CN 106239541A
- Authority
- CN
- China
- Prior art keywords
- paw
- duty
- slide block
- unmanned plane
- light
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008602 contraction Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Abstract
A kind of light-duty paw of unmanned plane, including: the driving motor of fixed frame, fixed and arranged to fixed frame, the multiple internal drive gears being arranged on fixed frame, connection fixed frame and multiple screw mandrels of each internal drive gear, multiple slide block, multiple paw arm and the multiple fixing nut being fixed on each slide block；Wherein, slide block is can be arranged on corresponding screw mandrel in the way of sliding on corresponding screw mandrel, and drives motor by driving internal drive gear so that each slide block slides on corresponding screw mandrel；Paw arm has closing fluting；And each fixing nut is each passed through corresponding closing and slots and be fixed on each slide block so that each paw arm can move via the slip in each self-enclosed fluting of each slide block.The unmanned plane light-duty paw portable construction of the present invention, chucking power is stable, and paw has auto-lock function, and current of electric closed loop control chucking power algorithm is simple, and Control system architecture is succinct, installs adaptability good.
Description
Technical field
The present invention relates to unmanned plane field, particularly relate to a kind of light-duty paw of unmanned plane.
Background technology
Currently, unmanned plane is installed paw to go to perform the development trend that relevant task is technology application.Due to unmanned plane
Payload limited, paw prescription is light and handy, to have certain chucking power to capturing thing, requires that paw is for capturing simultaneously
The profile of object has good adaptability, can be from main regulation grasp force.
Conventional unmanned plane retaining paw all uses steering wheel gear or steering wheel pull rope structural principle, cannot to chucking power
Continual and steady holding, motor rotation blockage overlong time, easy motor damage.Specifically, the product of current unmanned plane paw is few,
Common structure has two kinds: one to be light-duty steering wheel and gear clamping device composition；Two is to use cable winding machine and tightrope mechanism.Above-mentioned
Although structure meets light and handy demand, but, chucking power is unstable, the easy stall of motor.
Therefore, those skilled in the art is devoted to develop a kind of portable construction and the stable light-duty hands of unmanned plane of chucking power
Pawl.
Summary of the invention
Because the drawbacks described above of prior art, the technical problem to be solved be to provide a kind of portable construction and
The light-duty paw of unmanned plane that chucking power is stable.
For achieving the above object, the invention provides a kind of light-duty paw of unmanned plane, including: fixed frame, fixed and arranged
To described fixed frame drive motor, the multiple internal drive gears being arranged on described fixed frame, connect described fixing
Framework and multiple screw mandrels of each internal drive gear, multiple slide block, multiple paw arm and be fixed on each slide block many
Individual fixing nut；Wherein, described slide block can be arranged on corresponding screw mandrel in the way of sliding on corresponding screw mandrel, and
Described driving motor is by driving internal drive gear so that each slide block slides on corresponding screw mandrel；Described paw arm has
There is closing fluting；And each fixing nut is each passed through corresponding closing and slots and be fixed on each slide block so that each
Paw arm can move via the slip in each self-enclosed fluting of each slide block.
Preferably, the light-duty paw of described unmanned plane also includes: the multiple paw arms being fixedly connected on described fixed frame
Support, and each each paw arm is connected to corresponding paw arm support respectively in precalculated position so that and each paw arm can
To rotate around described precalculated position via the slip in each self-enclosed fluting of each slide block.
Preferably, in the light-duty paw of described unmanned plane, described fixed frame is circular fixed frame.
Preferably, in the light-duty paw of described unmanned plane, the quantity of the plurality of paw arm is four.
Preferably, in the light-duty paw of described unmanned plane, when slide block slides into relatively closer to the position of fixed frame,
The light-duty paw of unmanned plane is in contraction state according to the preferred embodiment of the invention.
Preferably, in the light-duty paw of described unmanned plane, when slide block slides into the position being relatively farther from fixed frame,
The light-duty paw of unmanned plane is in open configuration according to the preferred embodiment of the invention.
Preferably, in the light-duty paw of described unmanned plane, described driving motor uses current of electric closed loop to control clamping
Power.
The unmanned plane light-duty paw portable construction of the present invention, chucking power is stable, and paw has auto-lock function, current of electric
Closed loop control chucking power algorithm is simple, and Control system architecture is succinct, installs adaptability good.
Below with reference to accompanying drawing, the technique effect of design, concrete structure and the generation of the present invention is described further, with
It is fully understood from the purpose of the present invention, feature and effect.
Accompanying drawing explanation
Fig. 1 is the light-duty paw of unmanned plane overall three-dimensional signal in a contracted state according to the preferred embodiment of the invention
Figure.
Fig. 2 is the light-duty paw of unmanned plane overall three-dimensional signal under open configuration according to the preferred embodiment of the invention
Figure.
Fig. 3 is the kind of drive sketch of the light-duty paw of unmanned plane according to the preferred embodiment of the invention.
Fig. 4 is the drive system partial schematic diagram of the light-duty paw of unmanned plane according to the preferred embodiment of the invention.
It should be noted that accompanying drawing is used for illustrating the present invention, and the unrestricted present invention.Note, represent that the accompanying drawing of structure can
Can be not necessarily drawn to scale.Further, in accompanying drawing, same or like element indicates same or like label.
Detailed description of the invention
In the present invention, a kind of light-duty paw of new unmanned plane uses and refers to method of clamping more, and especially four refer to method of clamping,
By motor output many (four) individual rotating in same direction, drive four feed screw nut machines, by the mobile drive finger of nut
Opening and closing.
The detailed description of the invention of the present invention is described below in conjunction with accompanying drawing.
Fig. 1 is the light-duty paw of unmanned plane overall three-dimensional signal in a contracted state according to the preferred embodiment of the invention
Figure, and Fig. 2 is the light-duty paw of unmanned plane overall schematic perspective view under open configuration according to the preferred embodiment of the invention,
And Fig. 3 is the kind of drive sketch of the light-duty paw of unmanned plane according to the preferred embodiment of the invention, and Fig. 4 is excellent according to the present invention
Select the drive system partial schematic diagram of the light-duty paw of unmanned plane of embodiment.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, the light-duty paw of unmanned plane includes according to the preferred embodiment of the invention: fixing
Framework 100, fixed and arranged to described fixed frame 100 drive motor 10, be arranged on described fixed frame 100 multiple in
Portion's travelling gear 20, connect described fixed frame 100 and multiple screw mandrels 30 of each internal drive gear 20, multiple slide block 40,
Multiple paw arms 50 and the multiple fixing nut 60 being fixed on each slide block 40.
Wherein, described slide block 40 can be arranged on corresponding screw mandrel 30 in the way of sliding on corresponding screw mandrel 30,
And described driving motor 10 is by driving internal drive gear 20 so that each slide block 40 slides on corresponding screw mandrel 30；
Described paw arm 50 has closing fluting 51；And each fixing nut 60 is each passed through corresponding closing fluting 51 and is fixed on
On each slide block 40 so that each paw arm 50 can be transported via the slip in each self-enclosed fluting 51 of each slide block 40
Dynamic.
Wherein, such as, described driving motor 10 uses current of electric closed loop to control chucking power.
Preferably, described fixed frame 100 is circular fixed frame.
Such as, when slide block slides into relatively closer to the position of fixed frame 100, according to the preferred embodiment of the invention
At the light-duty paw of unmanned plane in a contracted state；When slide block slides into the position being relatively farther from fixed frame 100, according to this
The light-duty paw of unmanned plane of invention preferred embodiment is under open configuration.
Preferably, as shown in Figure 1, Figure 2 and Figure 3, the light-duty paw of unmanned plane also includes according to the preferred embodiment of the invention:
The multiple paw arm supports 70 being fixedly connected on described fixed frame 100, and each each paw arm 50 is respectively predetermined
Position 80 is connected to corresponding paw arm support 70.Thus, each paw arm 50 can be via each slide block 40 each self-enclosed
Fluting 51 in slip and rotate around described precalculated position 80.
Preferably, the quantity of the plurality of paw arm 50 is four.The situation of four paw arms make grasping stable and
Structure can be simplified simultaneously,
The unmanned plane light-duty paw portable construction of the present invention, chucking power is stable, and paw has auto-lock function, current of electric
Closed loop control chucking power algorithm is simple, and Control system architecture is succinct, installs adaptability good.
Described above illustrate and describes the preferred embodiments of the present invention, as previously mentioned, it should be understood that the present invention not office
Be limited to form disclosed herein, be not to be taken as the eliminating to other embodiments, and can be used for other combinations various, amendment and
Environment, and can be changed by above-mentioned teaching or the technology of association area or knowledge in invention contemplated scope described herein
Dynamic.And the change that those skilled in the art are carried out and change are without departing from the spirit and scope of the present invention, the most all should be appended by the present invention
In scope of the claims.
Claims (7)
1. the light-duty paw of unmanned plane, it is characterised in that including: the driving of fixed frame, fixed and arranged to described fixed frame
Motor, the multiple internal drive gears being arranged on described fixed frame, connect described fixed frame and each internal drive tooth
Multiple screw mandrels of wheel, multiple slide block, multiple paw arm and the multiple fixing nut being fixed on each slide block；Wherein, described
Slide block is can be arranged on corresponding screw mandrel in the way of sliding on corresponding screw mandrel, and described driving motor is by driving
Internal drive gear is so that each slide block slides on corresponding screw mandrel；Described paw arm has closing fluting；And each
Fixing nut is each passed through corresponding closing and slots and be fixed on each slide block so that each paw arm can be sliding via each
Block slip in each self-enclosed fluting and move.
2. the light-duty paw of unmanned plane as claimed in claim 1, it is characterised in that also include: be fixedly connected on described fixed frame
On multiple paw arm supports, and each each paw arm is connected to corresponding paw arm support respectively in precalculated position, makes
Obtain each paw arm to rotate around described precalculated position via the slip in each self-enclosed fluting of each slide block.
3. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that described fixed frame is circular fixed frame
Frame.
4. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that the quantity of the plurality of paw arm is four
Individual.
5. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that when slide block slides into relatively closer to solid
When determining the position of framework, the light-duty paw of unmanned plane is in contraction state according to the preferred embodiment of the invention.
6. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that be relatively farther from admittedly when slide block slides into
When determining the position of framework, the light-duty paw of unmanned plane is in open configuration according to the preferred embodiment of the invention.
7. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that described driving motor uses current of electric
Closed loop controls chucking power.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835260.XA CN106239541A (en) | 2016-09-20 | 2016-09-20 | A kind of light-duty paw of unmanned plane |
| PCT/CN2017/079514 WO2018054033A1 (en) | 2016-09-20 | 2017-04-06 | Unmanned aerial vehicle light gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610835260.XA CN106239541A (en) | 2016-09-20 | 2016-09-20 | A kind of light-duty paw of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106239541A true CN106239541A (en) | 2016-12-21 |
Family
ID=57599995
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610835260.XA Pending CN106239541A (en) | 2016-09-20 | 2016-09-20 | A kind of light-duty paw of unmanned plane |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN106239541A (en) |
| WO (1) | WO2018054033A1 (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864766A (en) * | 2017-03-16 | 2017-06-20 | 山东大学 | It is applied to unmanned plane independently the battery clamp device of continuation of the journey and replacing device and method |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
| CN107813335A (en) * | 2017-12-01 | 2018-03-20 | 揭阳市腾晟科技咨询有限公司 | A kind of anti abrasive manipulator |
| WO2018054033A1 (en) * | 2016-09-20 | 2018-03-29 | 上海未来伙伴机器人有限公司 | Unmanned aerial vehicle light gripper |
| CN109625258A (en) * | 2019-01-26 | 2019-04-16 | 哈尔滨学院 | A kind of Multi-axis aircraft |
| CN110342249A (en) * | 2019-08-13 | 2019-10-18 | 广西科技大学 | A kind of arm end executing agency of high-precise synchronization crawl |
| CN110921497A (en) * | 2019-12-06 | 2020-03-27 | 界首市天瓴建筑工程有限公司 | Heavy object snatchs mechanism for building |
| CN110994458A (en) * | 2019-12-21 | 2020-04-10 | 陕西同力智慧能源服务有限公司 | Bird's nest extirpation instrument for electric power engineering |
| CN112830239A (en) * | 2021-02-04 | 2021-05-25 | 北京鸿霁科技有限公司 | Grabbing device and packaging machine with same |
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| CN110053967A (en) * | 2019-05-23 | 2019-07-26 | 沈阳吕尚科技有限公司 | A kind of intelligent cleft hand under the environment for nuclear pollution |
| CN110202601A (en) * | 2019-05-23 | 2019-09-06 | 江苏精正自动化科技有限公司 | The novel mini multi-functional electronic claw of version |
| CN110181498B (en) * | 2019-05-31 | 2023-06-23 | 西安工业大学 | Underwater execution arm and execution method thereof |
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| CN111390953B (en) * | 2020-03-23 | 2022-12-23 | 上海大学 | Enveloping type under-actuated robot paw |
| CN111958625B (en) * | 2020-08-27 | 2022-11-15 | 上海大学 | Self-adaptive multi-connecting-rod type three-jaw picking manipulator |
| CN112157666B (en) * | 2020-09-01 | 2022-08-05 | 南京信息职业技术学院 | Multi-claw synchronous gathering paw |
| CN113581473A (en) * | 2021-08-04 | 2021-11-02 | 桂林航天工业学院 | Unmanned aerial vehicle with gripper |
| CN113697372B (en) * | 2021-09-06 | 2023-03-31 | 合肥奥博特自动化设备有限公司 | Ore raw material transportation anti-blocking device |
| CN114081546B (en) * | 2022-01-24 | 2022-04-15 | 河南工学院 | Board pincers with adjustable clamping jaw and application of board pincers to livestock veterinarian bloodletting needle |
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| CN105923160B (en) * | 2016-05-16 | 2018-01-05 | 西安京东天鸿科技有限公司 | A kind of logistics unmanned plane clamping device |
| CN106239541A (en) * | 2016-09-20 | 2016-12-21 | 上海未来伙伴机器人有限公司 | A kind of light-duty paw of unmanned plane |
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| JP3005937U (en) * | 1994-03-29 | 1995-01-17 | 株式会社プラスエンジニアリング | Industrial robot hand |
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| CN101497197A (en) * | 2009-02-24 | 2009-08-05 | 福州大学 | Manipulator for driving cone gear |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018054033A1 (en) * | 2016-09-20 | 2018-03-29 | 上海未来伙伴机器人有限公司 | Unmanned aerial vehicle light gripper |
| CN107053226A (en) * | 2017-02-12 | 2017-08-18 | 上海云线娃娃信息科技有限公司 | It is a kind of to clamp and hold up simultaneously the manipulator of article |
| CN107053226B (en) * | 2017-02-12 | 2023-11-17 | 玉沣科技(西安)有限公司 | Manipulator capable of simultaneously clamping and supporting articles |
| CN106864766A (en) * | 2017-03-16 | 2017-06-20 | 山东大学 | It is applied to unmanned plane independently the battery clamp device of continuation of the journey and replacing device and method |
| CN106864766B (en) * | 2017-03-16 | 2019-09-03 | 山东大学 | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane |
| CN107813335A (en) * | 2017-12-01 | 2018-03-20 | 揭阳市腾晟科技咨询有限公司 | A kind of anti abrasive manipulator |
| CN109625258A (en) * | 2019-01-26 | 2019-04-16 | 哈尔滨学院 | A kind of Multi-axis aircraft |
| CN110342249A (en) * | 2019-08-13 | 2019-10-18 | 广西科技大学 | A kind of arm end executing agency of high-precise synchronization crawl |
| CN110921497A (en) * | 2019-12-06 | 2020-03-27 | 界首市天瓴建筑工程有限公司 | Heavy object snatchs mechanism for building |
| CN110921497B (en) * | 2019-12-06 | 2021-11-30 | 合肥托卡拉图科技有限公司 | Heavy object snatchs mechanism for building |
| CN110994458A (en) * | 2019-12-21 | 2020-04-10 | 陕西同力智慧能源服务有限公司 | Bird's nest extirpation instrument for electric power engineering |
| CN112830239A (en) * | 2021-02-04 | 2021-05-25 | 北京鸿霁科技有限公司 | Grabbing device and packaging machine with same |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018054033A1 (en) | 2018-03-29 |
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