CN111390928A - Unmanned aerial vehicle snatchs auxiliary assembly based on gravity-feed tank - Google Patents
Unmanned aerial vehicle snatchs auxiliary assembly based on gravity-feed tank Download PDFInfo
- Publication number
- CN111390928A CN111390928A CN202010280915.8A CN202010280915A CN111390928A CN 111390928 A CN111390928 A CN 111390928A CN 202010280915 A CN202010280915 A CN 202010280915A CN 111390928 A CN111390928 A CN 111390928A
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- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- movably connected
- gravity
- snatchs
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- 238000005303 weighing Methods 0.000 claims abstract description 40
- 230000005484 gravity Effects 0.000 claims abstract description 33
- 238000013016 damping Methods 0.000 claims abstract description 11
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G17/00—Apparatus for or methods of weighing material of special form or property
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/005—Means for preventing overload
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G23/00—Auxiliary devices for weighing apparatus
- G01G23/06—Means for damping oscillations, e.g. of weigh beams
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of unmanned aerial vehicles, and discloses a gravity sensing-based unmanned aerial vehicle grabbing auxiliary device which comprises a mounting frame, wherein a fixed support is movably connected below the mounting frame, a screw rod is movably connected below the fixed support, a damping spring is movably connected to the outer side of the screw rod, a grabbing device main body is movably connected below the damping spring, a clamp is arranged at the lowest part of the grabbing device main body, and a connecting assembly is movably connected above the connecting spring. This unmanned aerial vehicle based on gravity-feed tank snatchs auxiliary assembly, the inside through weighing inductor and mother at son and weighing the inductor all is provided with the switch contact, and two sets of switch contacts are not the butt under the normal condition, and when the butt was together, son and mother of weighing the inductor then start, judge the object gravity of centre gripping through the gravity of pressing, appear overload when avoiding unmanned aerial vehicle to snatch the object and snatch, cause the damage of machine.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a grabbing auxiliary device of an unmanned aerial vehicle based on gravity sensing.
Background
An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by a radio remote control device and a self-contained program control device, or is operated autonomously, either completely or intermittently, by an onboard computer. Drones tend to be more suitable for tasks that are too "fool, dirty, or dangerous" than are manned aircraft. Unmanned aerial vehicles can be classified into military and civil applications according to the application field.
With the development of unmanned aerial vehicles, the unmanned aerial vehicles can be used for carrying goods, and the goods are grabbed by installing the object grabbing device on the unmanned aerial vehicles, so that the working efficiency is improved, but the existing object grabbing device is single in function, poor in damping effect and inconvenient to grab the goods; and current unmanned equipment of snatching when snatching the object, can not estimate to the weight of object by way, because unmanned aerial vehicle is the machine after all, when snatching the object, if the object is overweight, when exceeding unmanned aerial vehicle's the load of snatching, unmanned aerial vehicle also can keep snatching the state under the fixed instruction of machine, can cause the damage to unmanned aerial vehicle like this undoubtedly.
Therefore, we have provided unmanned aerial vehicle's auxiliary assembly that snatchs based on gravity-feed tank, through the response structure of its inside setting, can weigh the object weight that unmanned aerial vehicle snatched to seek the oneself judgement when realizing that unmanned aerial vehicle snatchs the object, the overload appears and snatchs when avoiding unmanned aerial vehicle to snatch the object, causes the damage of machine.
Disclosure of Invention
Technical scheme
In order to realize the advantages, the invention provides the following technical scheme: an unmanned aerial vehicle grabbing auxiliary device based on gravity sensing comprises a mounting frame, wherein a fixed support is movably connected below the mounting frame, a screw rod is movably connected below the fixed support, a damping spring is movably connected outside the screw rod, a grabbing device main body is movably connected below the damping spring, a clamp is arranged at the lowest part of the grabbing device main body, a connecting rod is movably connected above the clamp, a bearing rod is movably connected above the connecting rod, a driving rod is movably connected above the bearing rod, a sub-weighing sensor is movably connected above the driving rod, a main weighing sensor is lapped above the sub-weighing sensor, a driving spring is movably connected inside the connecting rod, a connecting buckle is movably connected above the driving spring, a connecting spring is movably connected above the connecting buckle, and a connecting assembly is movably connected above the connecting spring.
Preferably, coupling assembling is provided with two sets of that are the symmetry form, and the centre gripping has the gravity spring between two sets of coupling assembling.
Preferably, the inside of son inductor and the female inductor of weighing all is provided with the switch contact, and two sets of switch contacts do not butt under the normal condition, and when the butt was together, son inductor and the female inductor of weighing then start, judge the object gravity of centre gripping through the gravity of pressing, appear overload when avoiding unmanned aerial vehicle to snatch the object and snatch, cause the damage of machine.
Preferably, the child weighing sensor and the mother weighing sensor are not in abutting contact in a static state.
Preferably, the connecting springs are provided with three groups which are mutually connected with the three groups of buckles of the connecting buckles.
Preferably, two liang of joints of connecting rod are in the same place, for the activity structure, realize bending of connecting rod.
Preferably, the surface of mounting bracket is the horizontal plane to seek the installation of realization mounting bracket and unmanned aerial vehicle.
Preferably, the screw is fixedly connected with the gripping device body.
Advantageous effects
Compared with the prior art, the invention provides the grabbing auxiliary equipment of the unmanned aerial vehicle based on gravity sensing, which has the following beneficial effects:
1. this unmanned aerial vehicle based on gravity-feed tank snatchs auxiliary assembly, the inside through weighing inductor and mother at son and weighing the inductor all is provided with the switch contact, and two sets of switch contacts are not the butt under the normal condition, and when the butt was together, son and mother of weighing the inductor then start, judge the object gravity of centre gripping through the gravity of pressing, appear overload when avoiding unmanned aerial vehicle to snatch the object and snatch, cause the damage of machine.
2. This unmanned aerial vehicle based on gravity-feed tank snatchs auxiliary assembly, through the motion of connecting rod, the centre gripping also compresses thereupon at its inboard driving spring and rises, then through connecting buckle butt rather than the connecting spring of being connected, connecting spring promotes coupling assembling and gravity spring thereupon, promote the son inductor of weighing and the mother inductor of weighing that is connected with it and carry out the butt, inside is provided with the switch contact and starts thereupon afterwards, judge the object gravity of centre gripping through the gravity of pressing, thereby the object weight feedback that will be got by the anchor clamps clamp is unmanned aerial vehicle, thereby unmanned aerial vehicle realizes the judgement to weight.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a fixing bracket connection structure according to the present invention;
FIG. 3 is a schematic view of the connection structure of the damping spring according to the present invention;
FIG. 4 is a schematic view of a connecting structure of a main body of the grasping apparatus according to the present invention;
FIG. 5 is a schematic cross-sectional view of the area A in FIG. 4 according to the present invention;
FIG. 6 is a schematic cross-sectional view of the area A in FIG. 4 according to the present invention;
FIG. 7 is a schematic view of a driving rod connection structure according to the present invention;
FIG. 8 is a schematic view of a switch contact connection configuration of the present invention;
FIG. 9 is a schematic view of a connection assembly according to the present invention;
FIG. 10 is a schematic cross-sectional view of the area B of FIG. 9 according to the present invention;
FIG. 11 is a schematic cross-sectional view of the area B in FIG. 9 according to the present invention.
In the figure: 1-mounting frame, 2-fixing support, 3-screw rod, 4-damping spring, 5-grabbing device body, 6-clamp, 7-connecting rod, 8-bearing rod, 9-driving rod, 10-sub weighing sensor, 11-mother weighing sensor, 12-driving spring, 13-connecting buckle, 14-connecting spring, 15-connecting component, 16-gravity spring and 17-switch contact.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 11, an unmanned aerial vehicle grabbing auxiliary device based on gravity sensing includes an installation frame 1, where the surface of the installation frame 1 is a horizontal plane, so as to implement installation of the installation frame 1 and the unmanned aerial vehicle; a fixed support 2 is movably connected below the mounting rack 1, a screw 3 is movably connected below the fixed support 2, a damping spring 4 is movably connected outside the screw 3, a gripping device body 5 is movably connected below the damping spring 4, a clamp 6 is arranged at the lowest part of the gripping device body 5, a connecting rod 7 is movably connected above the clamp 6, a bearing rod 8 is movably connected above the connecting rod 7, a driving rod 9 is movably connected above the bearing rod 8, a sub-weighing sensor 10 is movably connected above the driving rod 9, a main weighing sensor 11 is lapped above the sub-weighing sensor 10, the sub-weighing sensor 10 and the main weighing sensor 11 are not in butt contact in a static state, a driving spring 12 is movably connected inside the connecting rod 7, a connecting buckle 13 is movably connected above the driving spring 12, a connecting spring 14 is movably connected above the connecting buckle 13, through weighing inductor 10 and female inside of weighing inductor 11 at son and all being provided with switch contact 17, two sets of switch contact 17 normal condition under not butt, when the butt is together, son weighing inductor 10 and female sensor 11 of weighing then start, judge the object gravity of centre gripping through the gravity of pressing, appear overload when avoiding unmanned aerial vehicle to snatch the object and snatch, cause the damage of machine.
The connecting spring 14 is provided with three groups which are mutually connected with the three groups of buckles of the connecting buckle 13, the upper part of the connecting spring 14 is movably connected with the connecting components 15, the connecting components 15 are provided with two groups which are symmetrical, the gravity spring 16 is clamped between the two groups of connecting components 15, through the movement of the connecting rod 7, the driving spring 12 clamped at the inner side is also compressed and ascended, then the connecting buckle 13 is abutted to the connecting spring 14 connected with the connecting spring, the connecting spring 14 pushes the connecting component 15 and the gravity spring 16, then the sub weighing sensor 10 connected with the connecting spring is pushed to be abutted to the main weighing sensor 11, then the switch contact 17 is arranged inside the sub weighing sensor and is started, the gravity of the clamped object is judged through the pressed gravity, thereby will be given back to unmanned aerial vehicle by the object weight feedback that 6 clamps of anchor clamps got, thereby unmanned aerial vehicle realizes the judgement to weight.
The working principle is as follows: when the unmanned aerial vehicle is used, the mounting frame 1 is fixedly mounted on a shell below an unmanned aerial vehicle body, when the unmanned aerial vehicle is grabbed, the unmanned aerial vehicle is controlled to move the unmanned aerial vehicle to a proper position, then an internal driving device is controlled to work, the clamp 6 is clamped and contracted along with the unmanned aerial vehicle, and an object to be clamped is firmly clamped; the unmanned aerial vehicle ascends along with the unmanned aerial vehicle, the object clamped by the clamp 6 is carried away, the connecting rod 7 connected above the clamp 6 is stretched along with the connecting rod due to gravity, the bearing rod 8 connected to the connecting rod 7 is relatively abutted upwards along with the connecting rod 7 due to the stretching of the connecting rod 7 (see fig. 5), the bearing rod 8 then pushes the driving rod 9 connected with the bearing rod 8, the driving rod 9 upwards pushes the sub weighing sensor 10 connected with the driving rod, and the sub weighing sensor 10 upwards pushed is then abutted with the main weighing sensor 11 above the sub weighing sensor;
simultaneously, because the motion of connecting rod 7, the centre gripping also compresses at the drive spring 12 of its inboard thereupon and rises, then through connecting buckle 13 butt rather than the connecting spring 14 who is connected, connecting spring 14 promotes coupling assembling 15 and gravity spring 16 thereupon, promote the son inductor 10 that weighs who is connected with it and female inductor 11 that weighs and carry out the butt, inside is provided with switch contact 17 thereupon afterwards and starts, judge the object gravity of centre gripping through the gravity of pressing down, thereby will be fed back to unmanned aerial vehicle by the object weight that anchor clamps 6 pressed from both sides, thereby unmanned aerial vehicle realizes weight and judges, appear overloading when avoiding unmanned aerial vehicle to snatch the object and snatch, cause the damage of machine.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (8)
1. The utility model provides an unmanned aerial vehicle snatchs auxiliary assembly based on gravity-feed tank is answered, includes mounting bracket (1), its characterized in that: the lower part of the mounting rack (1) is movably connected with a fixed support (2), the lower part of the fixed support (2) is movably connected with a screw rod (3), the outer side of the screw rod (3) is movably connected with a damping spring (4), the lower part of the damping spring (4) is movably connected with a gripping device main body (5), the lowest part of the gripping device main body (5) is provided with a clamp (6), the upper part of the clamp (6) is movably connected with a connecting rod (7), the upper part of the connecting rod (7) is movably connected with a bearing rod (8), the upper part of the bearing rod (8) is movably connected with a driving rod (9), the upper part of the driving rod (9) is movably connected with a sub weighing inductor (10), the upper part of the sub weighing inductor (10) is lapped with a main weighing inductor (11), the inner side of the connecting rod (7) is movably connected with a, the last swing joint of drive spring (12) has connection buckle (13), the top swing joint of connection buckle (13) has coupling spring (14), the top swing joint of coupling spring (14) has coupling assembling (15).
2. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: the connecting components (15) are provided with two groups which are symmetrical, and a gravity spring (16) is clamped between the two groups of connecting components (15).
3. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: switch contacts (17) are arranged in the sub weighing sensor (10) and the main weighing sensor (11).
4. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: the sub weighing sensor (10) and the main weighing sensor (11) are not in contact with each other in a non-contact state.
5. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: the connecting springs (14) are provided with three groups and are mutually connected with the three groups of buckles of the connecting buckles (13).
6. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: the connecting rods (7) are clamped together two by two.
7. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: the surface of the mounting rack (1) is a horizontal plane.
8. The unmanned aerial vehicle based on gravity sensing snatchs auxiliary assembly of claim 1, characterized in that: the screw rod (3) is fixedly connected with the grabbing device main body (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010280915.8A CN111390928A (en) | 2020-04-10 | 2020-04-10 | Unmanned aerial vehicle snatchs auxiliary assembly based on gravity-feed tank |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010280915.8A CN111390928A (en) | 2020-04-10 | 2020-04-10 | Unmanned aerial vehicle snatchs auxiliary assembly based on gravity-feed tank |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111390928A true CN111390928A (en) | 2020-07-10 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010280915.8A Withdrawn CN111390928A (en) | 2020-04-10 | 2020-04-10 | Unmanned aerial vehicle snatchs auxiliary assembly based on gravity-feed tank |
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| Country | Link |
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| CN (1) | CN111390928A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775808A (en) * | 2020-07-13 | 2020-10-16 | 叶云诗 | Valuable liquid storage and transportation equipment based on intermittent motion |
| CN114454200A (en) * | 2022-03-11 | 2022-05-10 | 徐州常青生物科技有限公司 | Assembly line snatchs robotic arm |
-
2020
- 2020-04-10 CN CN202010280915.8A patent/CN111390928A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775808A (en) * | 2020-07-13 | 2020-10-16 | 叶云诗 | Valuable liquid storage and transportation equipment based on intermittent motion |
| CN114454200A (en) * | 2022-03-11 | 2022-05-10 | 徐州常青生物科技有限公司 | Assembly line snatchs robotic arm |
| CN114454200B (en) * | 2022-03-11 | 2022-11-04 | 徐州常青生物科技有限公司 | Assembly line snatchs robotic arm |
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| WW01 | Invention patent application withdrawn after publication | ||
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Application publication date: 20200710 |