CN112407281A - Can snatch unmanned aerial vehicle - Google Patents
Can snatch unmanned aerial vehicle Download PDFInfo
- Publication number
- CN112407281A CN112407281A CN202011279770.6A CN202011279770A CN112407281A CN 112407281 A CN112407281 A CN 112407281A CN 202011279770 A CN202011279770 A CN 202011279770A CN 112407281 A CN112407281 A CN 112407281A
- Authority
- CN
- China
- Prior art keywords
- clamping jaw
- rotating shaft
- arm
- worm
- driving steering
- 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
- 230000000149 penetrating effect Effects 0.000 claims abstract description 25
- 239000003381 stabilizer Substances 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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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
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- 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
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Remote Sensing (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to a snatchable unmanned aerial vehicle, wherein a hanging frame is arranged on the lower end surface of a body, more than one parallel gripper arms are hung in the middle of the hanging frame, connecting seats of the gripper arms are fixedly connected with upper arms in a penetrating manner through upper rotating shafts, upper driving steering engines are arranged in the middle of the upper arms, upper worm shafts are driven to be meshed with upper worm wheel parts of the upper worm shafts, lower parts of the upper arms are fixedly connected with lower arms through lower rotating shafts, and lower driving steering engines are arranged in the middle of the lower arms, lower worm shafts are driven to be meshed with lower worm wheel parts of lower worm; the lower part of the lower arm is fixedly connected with a left clamping jaw and a right clamping jaw through a left clamping jaw rotating shaft and a right clamping jaw rotating shaft in a penetrating manner, a clamping jaw worm wheel part is arranged on any clamping jaw rotating shaft, a clamping jaw driving steering engine is arranged in the middle of the lower arm, the clamping jaw driving steering engine drives a clamping jaw worm shaft, the clamping jaw worm shaft is meshed with the clamping jaw worm wheel part, and a mutually meshed gear set is connected on the left clamping jaw rotating shaft. The device has compact structure, can conveniently and firmly grab goods, and is stable and safe to transport.
Description
Technical Field
The invention relates to an unmanned aerial vehicle, in particular to a graspable unmanned aerial vehicle.
Background
With the popularization of unmanned aerial vehicle technology, all industries are widely used, and the unmanned aerial vehicle used in some transfer occasions is traditionally installed on the body of the unmanned aerial vehicle when goods are shipped, so that the mechanism and the size of the body of the unmanned aerial vehicle are limited and required; in addition, the goods are hoisted below the unmanned aerial vehicle, the stability of rope hoisting is poor, the rope hoisting is influenced by factors such as the flight speed of the unmanned aerial vehicle and wind power, and the flight of the unmanned aerial vehicle and the safety of goods hoisting are directly influenced.
Disclosure of Invention
The invention provides a graspable unmanned aerial vehicle which is compact in structure, can grasp goods conveniently, firmly, stably and safely.
The technical scheme adopted by the invention is as follows: the utility model provides a can snatch unmanned aerial vehicle, includes the fuselage, and the cantilever is stretched out to four sides of fuselage, and the cantilever end sets up the rotor motor of taking the rotor, and the fuselage bottom is equipped with stabilizer blade, its characterized in that: the lower end surface of the machine body is provided with a hanging frame, the middle part of the hanging frame is hung with more than one parallel grab arm, the hanging frame around the grab arm is hung with a camera, a loudspeaker and a lighting lamp, the gripper arm comprises a connecting seat, an upper rotating shaft, an upper driving steering engine, an upper arm, a lower rotating shaft, a lower driving steering engine, a lower arm, a jaw rotating shaft, a jaw and a jaw driving steering engine, wherein the upper rotating shaft is rotatably connected onto the connecting seat in a penetrating manner, the upper rotating shaft is fixedly connected to the upper end of the upper arm in a penetrating manner, an upper worm wheel part is arranged on the upper rotating shaft, an upper driving steering engine is arranged in the middle of the upper arm, the upper driving steering engine drives an upper worm shaft, the upper worm shaft is meshed with and drives the upper worm wheel part, the lower rotating shaft is rotatably connected onto the lower part of the upper arm in a penetrating manner, the lower rotating shaft is fixedly connected onto the upper part of the lower arm in a penetrating manner, a lower worm wheel part; the lower portion of the lower arm is rotatably connected with a left clamping jaw rotating shaft and a right clamping jaw rotating shaft in a penetrating mode, the left clamping jaw rotating shaft and the right clamping jaw rotating shaft are fixedly connected with a left clamping jaw and a right clamping jaw in a penetrating mode respectively, a clamping jaw worm wheel portion is arranged on any one of the clamping jaw rotating shafts, a clamping jaw driving steering engine is arranged in the middle of the lower arm, the clamping jaw driving steering engine drives a clamping jaw worm shaft, the clamping jaw worm shaft is meshed with the clamping jaw worm wheel portion in.
Furthermore, an upper support seat which correspondingly penetrates through the upper worm shaft of the rotary support is arranged on the upper arm.
Furthermore, a lower support seat which correspondingly penetrates through and rotatably supports the lower worm shaft is arranged on the lower arm.
Furthermore, a jaw supporting seat which correspondingly penetrates through a worm shaft of the rotary supporting jaw is arranged on the lower arm.
Furthermore, a GPS locator is also hung below the hanging rack.
During operation, the position of an object to be grabbed is illuminated by an illuminating lamp, the unmanned aerial vehicle is monitored and adjusted to fly above the unmanned aerial vehicle to correspond through the universal camera, the grabbing arm is controlled to grab, the upper driving steering engine is controlled to drive the upper worm shaft to be meshed with the upper worm wheel part of the upper rotating shaft in a transmission manner, so that the upper arm is driven to rotate through the upper rotating shaft, the lower driving steering engine is controlled to realize rotation of the lower arm, and the grabbing and adjusting requirements of multiple angles are met; the guide and guard doll is adjusted in the grabbing angle, the clamping jaws are controlled to drive the steering engine to drive the clamping jaw rotating shaft to rotate, the two clamping jaws are driven to rotate to finish folding, closing or opening, grabbing or releasing is carried out, the overall structure is compact, worm wheels and worms are meshed for driving, the improvement of the grabbing angle and force stability is facilitated, and convenient and firm grabbing is ensured.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view of the gripper arm according to the present invention.
In the figure: the device comprises a body 1, a cantilever 2, a rotor motor 3, a rotor 4, a support leg 5, a hanging frame 6, a universal camera 7, a loudspeaker 8, an illuminating lamp 9, a GPS locator 10, a connecting seat 11, an upper rotating shaft 12, an upper worm wheel part 13, an upper arm 14, an upper driving steering gear 15, an upper worm shaft 16, an upper supporting seat 17, a lower rotating shaft 18, a lower worm wheel part 19, a lower arm 20, a lower driving steering gear 21, a lower worm shaft 22, a lower supporting seat 23, a jaw rotating shaft 24, a jaw worm wheel part 25, a jaw 26, a jaw driving steering gear 27, a jaw worm shaft 28, a jaw supporting seat 29 and a gear set 30.
Detailed Description
The following further description is made in conjunction with the accompanying drawings and examples.
FIG. 1 shows: the utility model provides a can snatch unmanned aerial vehicle, includes fuselage 1, and 1 four sides of fuselage stretch out cantilever 2, and the cantilever end sets up takes rotor 4's rotor motor 3, and the fuselage bottom is equipped with stabilizer blade 5, and the terminal surface sets up under the fuselage and articulates frame 6, articulates the grab arm more than one side by side in the middle part of articulating, articulates universal camera 7, speaker 8, light 9, GPS locater 10 on the peripheral frame that articulates of grab arm. In fig. 2, the gripper arm comprises a connecting seat 11, an upper rotating shaft 12, an upper worm wheel part 13, an upper arm 14, an upper driving steering engine 15, an upper worm shaft 16, an upper supporting seat 17, a lower rotating shaft 18, a lower worm wheel part 19, a lower arm 20, a lower driving steering engine 21, a lower worm shaft 22, a lower supporting seat 23, a jaw rotating shaft 24, a jaw worm wheel part 25, a jaw 26, a jaw driving steering engine 27, a jaw worm shaft 28, a jaw supporting seat 29 and a gear set 30. An upper rotating shaft 12 is rotatably connected to the connecting seat 11 in a penetrating manner, the upper rotating shaft 12 is fixedly connected to the upper end of an upper arm 14 in a penetrating manner, an upper worm wheel part 13 is arranged on the upper rotating shaft 12, an upper driving steering gear 15 is arranged in the middle of the upper arm 14, the upper driving steering gear 15 drives an upper worm shaft 16, an upper supporting seat 17 correspondingly connected with the upper rotating shaft in a penetrating manner is arranged on the upper arm, the upper worm shaft 16 is meshed with the upper worm wheel part 13, the lower part of the upper arm 14 is rotatably connected with a lower rotating shaft 18 in a penetrating manner, the lower rotating shaft 18 is fixedly connected to the upper part of a lower arm in a penetrating manner, a lower worm wheel part 19 is arranged on the lower rotating shaft 18, a lower driving steering gear 21 is arranged in the middle of the lower arm, the lower driving steering gear 21 drives a lower; the lower portion of the lower arm 20 is rotatably connected with a left clamping jaw rotating shaft 24 and a right clamping jaw rotating shaft 24 in a penetrating mode, the left clamping jaw rotating shaft and the right clamping jaw rotating shaft are respectively fixedly connected with a left clamping jaw 26 and a right clamping jaw 26 in a penetrating mode, a clamping jaw worm wheel portion 25 is arranged on any one of the clamping jaw rotating shafts, a clamping jaw driving steering engine 27 is arranged in the middle of the lower arm, the clamping jaw driving steering engine drives the clamping jaw worm shaft 28, a clamping jaw supporting seat 29 correspondingly connected with a clamping jaw worm shaft in a penetrating mode and rotatably supporting is arranged on the lower arm, the clamping.
Claims (5)
1. The utility model provides a can snatch unmanned aerial vehicle, includes the fuselage, and the cantilever is stretched out to four sides of fuselage, and the cantilever end sets up the rotor motor of taking the rotor, and the fuselage bottom is equipped with stabilizer blade, its characterized in that: the lower end surface of the machine body is provided with a hanging frame, the middle part of the hanging frame is hung with more than one parallel grab arm, the hanging frame around the grab arm is hung with a camera, a loudspeaker and a lighting lamp, the gripper arm comprises a connecting seat, an upper rotating shaft, an upper driving steering engine, an upper arm, a lower rotating shaft, a lower driving steering engine, a lower arm, a jaw rotating shaft, a jaw and a jaw driving steering engine, wherein the upper rotating shaft is rotatably connected onto the connecting seat in a penetrating manner, the upper rotating shaft is fixedly connected to the upper end of the upper arm in a penetrating manner, an upper worm wheel part is arranged on the upper rotating shaft, an upper driving steering engine is arranged in the middle of the upper arm, the upper driving steering engine drives an upper worm shaft, the upper worm shaft is meshed with and drives the upper worm wheel part, the lower rotating shaft is rotatably connected onto the lower part of the upper arm in a penetrating manner, the lower rotating shaft is fixedly connected onto the upper part of the lower arm in a penetrating manner, a lower worm wheel part; the lower portion of the lower arm is rotatably connected with a left clamping jaw rotating shaft and a right clamping jaw rotating shaft in a penetrating mode, the left clamping jaw rotating shaft and the right clamping jaw rotating shaft are fixedly connected with a left clamping jaw and a right clamping jaw in a penetrating mode respectively, a clamping jaw worm wheel portion is arranged on any one of the clamping jaw rotating shafts, a clamping jaw driving steering engine is arranged in the middle of the lower arm, the clamping jaw driving steering engine drives a clamping jaw worm shaft, the clamping jaw worm shaft is meshed with the clamping jaw worm wheel portion in.
2. The graspable drone of claim 1, wherein: and the upper arm is provided with an upper supporting seat correspondingly penetrating and connecting the upper worm shaft of the rotary support.
3. The graspable drone of claim 1, wherein: and the lower arm is provided with a lower supporting seat correspondingly penetrating and rotatably supporting the lower worm shaft.
4. The graspable drone of claim 1, wherein: and the lower arm is provided with a jaw supporting seat correspondingly connected with the jaw worm shaft in a penetrating and rotating manner.
5. The graspable drone of claim 1, wherein: and a GPS locator is also hung below the hanging frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011279770.6A CN112407281A (en) | 2020-11-16 | 2020-11-16 | Can snatch unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011279770.6A CN112407281A (en) | 2020-11-16 | 2020-11-16 | Can snatch unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112407281A true CN112407281A (en) | 2021-02-26 |
Family
ID=74831232
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011279770.6A Pending CN112407281A (en) | 2020-11-16 | 2020-11-16 | Can snatch unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112407281A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113369198A (en) * | 2021-06-09 | 2021-09-10 | 孙发 | Magic tape and preparation system and method thereof |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| CN205633051U (en) * | 2016-04-12 | 2016-10-12 | 匡立生 | Four -rotor unmanned aerial vehicle |
| CN206568159U (en) * | 2017-03-02 | 2017-10-20 | 成都信息工程大学 | Mechanical handing system |
| CN107953359A (en) * | 2017-12-23 | 2018-04-24 | 华南理工大学广州学院 | A kind of robot manipulator structure of robot |
| CN207888681U (en) * | 2017-12-23 | 2018-09-21 | 华南理工大学广州学院 | A kind of gripper structure |
| CN108994873A (en) * | 2018-09-17 | 2018-12-14 | 北京臻迪科技股份有限公司 | Manipulator and unmanned plane for unmanned plane |
| CN110395391A (en) * | 2019-07-30 | 2019-11-01 | 倪晋挺 | A kind of unmanned plane gleaned and collect scraps for dangerous situation |
| CN214002046U (en) * | 2020-11-16 | 2021-08-20 | 江苏锦程航空科技有限公司 | Can snatch unmanned aerial vehicle |
-
2020
- 2020-11-16 CN CN202011279770.6A patent/CN112407281A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201198136Y (en) * | 2008-05-19 | 2009-02-25 | 昆明理工大学 | Joint type convey robot |
| CN205633051U (en) * | 2016-04-12 | 2016-10-12 | 匡立生 | Four -rotor unmanned aerial vehicle |
| CN206568159U (en) * | 2017-03-02 | 2017-10-20 | 成都信息工程大学 | Mechanical handing system |
| CN107953359A (en) * | 2017-12-23 | 2018-04-24 | 华南理工大学广州学院 | A kind of robot manipulator structure of robot |
| CN207888681U (en) * | 2017-12-23 | 2018-09-21 | 华南理工大学广州学院 | A kind of gripper structure |
| CN108994873A (en) * | 2018-09-17 | 2018-12-14 | 北京臻迪科技股份有限公司 | Manipulator and unmanned plane for unmanned plane |
| CN110395391A (en) * | 2019-07-30 | 2019-11-01 | 倪晋挺 | A kind of unmanned plane gleaned and collect scraps for dangerous situation |
| CN214002046U (en) * | 2020-11-16 | 2021-08-20 | 江苏锦程航空科技有限公司 | Can snatch unmanned aerial vehicle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113369198A (en) * | 2021-06-09 | 2021-09-10 | 孙发 | Magic tape and preparation system and method thereof |
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