CN116175628A - Unmanned aerial vehicle remote control hoisting mechanical claw and control method thereof - Google Patents
Unmanned aerial vehicle remote control hoisting mechanical claw and control method thereof Download PDFInfo
- Publication number
- CN116175628A CN116175628A CN202310170188.3A CN202310170188A CN116175628A CN 116175628 A CN116175628 A CN 116175628A CN 202310170188 A CN202310170188 A CN 202310170188A CN 116175628 A CN116175628 A CN 116175628A
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- Prior art keywords
- unmanned aerial
- aerial vehicle
- clamping jaws
- vehicle base
- remote control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C3/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith and intended primarily for transmitting lifting forces to loose materials; Grabs
- B66C3/04—Tine grabs
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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
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices
- B66C13/14—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices to load-engaging elements or motors associated therewith
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to the technical field of hoisting mechanical claws, and particularly discloses an unmanned aerial vehicle remote control hoisting mechanical claw which comprises an unmanned aerial vehicle base and a mounting frame, wherein the mounting frame is arranged below the unmanned aerial vehicle base, the inside of the unmanned aerial vehicle base is connected with the mounting frame through a mounting mechanism, two clamping claws are symmetrically arranged at the bottom of the mounting frame, and a first anti-falling mechanism and a second anti-falling mechanism are respectively arranged on four sides of the unmanned aerial vehicle base. According to the invention, in the process that the two clamping jaws grab an article and move upwards, as the first anti-falling mechanism is arranged between the two clamping jaws, the two first pull ropes are driven by the two rotating shafts to wind, so that the two clamping jaws can be pulled to maintain a clamping state, the risk that the clamping jaws fail to enable the article to fall downwards is avoided, the safety of ground staff is ensured, and the hoisting work is smoothly carried out.
Description
Technical Field
The invention relates to a hoisting mechanical claw and a control method thereof, in particular to an unmanned aerial vehicle remote control hoisting mechanical claw and a control method thereof, and belongs to the technical field of hoisting mechanical claws.
Background
Unmanned aircraft, for short unmanned aircraft, is unmanned aircraft that is maneuvered using a radio remote control device and a self-contained programming device, or is operated autonomously, either entirely or intermittently, by an on-board computer. Unmanned aerial vehicles can be classified into military and civilian applications according to the field of application. For military purposes, unmanned aerial vehicles are classified into reconnaissance and drones. In the civil aspect, the unmanned aerial vehicle and industry application is truly just needed by the unmanned aerial vehicle, the application of the unmanned aerial vehicle is greatly expanded, and developed countries are actively expanding the industry application and developing unmanned aerial vehicle technology. The hoisting mechanical claw works by using a motor, and the claw fingers can be freely tightened and loosened under the drive of electricity, and can be positioned, fixed and controllable. The clamping force of the hoisting mechanical claw is controllable, and the hoisting mechanical claw can be controlled by utilizing the motion controller, so that the grabbing, positioning, hoisting functions and the like of a working object are realized, and the hoisting mechanical claw is also a terminal for executing mechanical equipment.
Unmanned aerial vehicle remote control hoist and mount gripper among the prior art structure is comparatively complicated, and the operation is comparatively clumsy, after long-time use, wearing and tearing appear in its inside part for the gripper is too heavy at the in-process of snatching article if appearing the article, leads to the gripper to be invalid, delays going on of work, and article can drop down from the sky, also can make the article appear damaging when causing the influence to ground staff's safety, and the gripper among the prior art does not set up the device of handling to this kind of extreme case, leads to the gripper unable best result of use that reaches.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an unmanned aerial vehicle remote control hoisting mechanical claw and a control method thereof.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an unmanned aerial vehicle remote control hoist and mount gripper, includes unmanned aerial vehicle base and mounting bracket, the mounting bracket sets up in the below of unmanned aerial vehicle base, and the inside of unmanned aerial vehicle base is connected with the mounting bracket through the installation mechanism that sets up, and two clamping jaws are installed to the bottom symmetry of mounting bracket, and four sides of unmanned aerial vehicle base are equipped with first anticreep mechanism and second anticreep mechanism respectively.
Optionally, two first sliding grooves are formed in the bottom of the mounting frame, two electric sliding blocks are mounted in the two first sliding grooves, and the top ends of the two clamping jaws are connected with the bottom ends of the electric sliding blocks in the two first sliding grooves
Optionally, the first anti-disengaging mechanism includes two pivots, and two pivots rotate respectively and install the both ends at the unmanned aerial vehicle base, and the unmanned aerial vehicle base is close to the position of two pivots and all sets up flutedly, and two pivots are located the outer wall of recess and all install first rolling wheel, and the outer wall of two first rolling wheels is all twined there is first stay cord.
Optionally, the internally mounted of mounting bracket has the fixed axle, and two guide wheels are installed to the outer wall of fixed axle, and the one end that two first stay cords kept away from first rolling wheel respectively with its opposite guide wheel outer wall sliding fit.
Optionally, two first stay cords keep away from the one end of first reel and all install first mounting, two first stay cords are all connected with the clamping jaw that is close to with it through first mounting.
Optionally, the second anti-disengaging mechanism includes a plurality of second rolling wheels, and the second spout has all been seted up to the front and the back of unmanned aerial vehicle base, all installs two movable blocks in two second spouts, and a plurality of second rolling wheels are installed respectively on the outer wall that unmanned aerial vehicle base was kept away from to a plurality of movable blocks, and the outer wall of a plurality of second rolling wheels has all been twined the second stay cord.
Optionally, many the second mounting is all installed to the one end that the second reel was kept away from to the second stay cord, and two clamping jaws are close to unmanned aerial vehicle base's both sides outer wall and all install the connecting block, and many second stay cords all are through second mounting and the connecting block threaded connection that is close to mutually.
Optionally, two the third winding wheel is all installed at the both ends of pivot, and the outer wall of a plurality of third winding wheels is all twined and is had the third stay cord, and the one end that third winding wheel was kept away from to a plurality of third stay cords all is connected with the movable block that is close to with it through the spring.
Optionally, the mounting mechanism includes the rectangular channel of seting up at unmanned aerial vehicle base top, and the internally mounted in rectangular channel has the biax motor, and two equal coaxial coupling of output of biax motor have threaded sleeve, and threaded rod is all installed to two threaded rod's inside equal screw thread installation, and the movable plate is all installed to two one end that the threaded rod kept away from mutually, and one side outer wall that two movable plates kept away from mutually all installs the gag lever post, and two connecting plates are installed to the top symmetry of mounting bracket, and the spacing groove with gag lever post looks adaptation has all been seted up to the outer wall of two connecting plates.
The control method is applied to the hoisting mechanical claw, and comprises the following steps:
step one: when two clamping jaws clamp an article, the two clamping jaws are driven to rotate towards the direction of approaching each other by an external driving motor, after the two clamping jaws clamp the article, two rotating shafts are respectively started to rotate to wind the two first pull ropes, so that when the two clamping jaws maintain a clamping state, the two first pull ropes are also in a tensioning state, and the risk that the clamping jaws fail to cause the article to drop downwards is avoided;
step two: the rotating shaft can drive the third winding wheels at two ends to wind the third pull rope when winding the first pull rope, when the extreme condition that two clamping jaws and the rotating shaft are invalid occurs, the rotating shaft rotates reversely to drive the third pull rope wound on the outer wall of the third winding wheel to be in an extension state, the spring resets to drive the moving block to move in the second sliding groove in the direction away from the rotating shaft, the second winding wheels on the outer wall of the moving block are started and wind the second pull rope, so that the two clamping jaws can rotate in the direction close to each other, the clamping and fixing of the article are continued, damage caused by downward falling of the article is avoided, and the safety of the mechanical claw in use is further improved;
step three: when the two clamping jaws clamp and hoist the cylindrical object with smooth surface, after the two clamping jaws clamp the cylindrical object with matching degree, the connection between the second fixing pieces of the second pull ropes and the connecting blocks on the outer walls of the clamping jaws can be released, the second pull ropes are wound at the two ends of the cylindrical object, the two ends of the cylindrical object are further limited and fixed, the safety of the clamping jaws in the hoisting and transportation process of the cylindrical object is improved, and the condition that the clamping jaws fall off easily in the road is prevented;
step four: when installing the bottom at unmanned aerial vehicle base with the mounting bracket, after the top of two connecting plates extends to the inside in rectangle groove, start biax motor for the screw sleeve of two output installations of biax motor rotates together, and then can drive the inside threaded rod promotion gag lever post cartridge of two screw sleeves in the spacing inslot of connecting plate outer wall, can install fixedly the mounting bracket.
The beneficial effects of the invention are as follows:
1. according to the invention, in the process that the two clamping jaws grab an article and move upwards, as the first anti-falling mechanism is arranged between the two clamping jaws, the two first pull ropes are driven by the two rotating shafts to wind, so that the two clamping jaws can be pulled to maintain a clamping state, the risk that the clamping jaws fail to enable the article to fall downwards is avoided, the safety of ground staff is ensured, and the hoisting work is smoothly carried out.
2. According to the invention, when failure conditions occur in the use process of the two clamping jaws and the first anti-drop mechanism, the two clamping jaws can rotate towards the mutually-far direction and drive the rotating shaft to rotate through the pull rope, the rotating shaft can drive the third winding wheels at the two ends of the rotating shaft to rotate while rotating, so that the third pull rope stretches out, the spring elastically resets to drive the two moving blocks to move towards the mutually-close direction, and the second winding wheels are started to drive the second pull rope to wind, so that the two clamping jaws can still rotate towards the mutually-close direction, the clamping state of an article is maintained, and the problem that the article falls and is damaged under the extreme condition that the clamping jaws and the first anti-drop mechanism fail is avoided, so that more serious conditions occur.
3. According to the invention, the mounting mechanism arranged in the unmanned aerial vehicle base can be used for rapidly mounting or dismounting the mounting rack and the two clamping jaws at the bottom of the mounting rack according to the actual use requirement, so that the two clamping jaws are convenient for hoisting articles.
Drawings
The present invention is further described below with reference to the accompanying drawings for the convenience of understanding by those skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a remote control hoisting mechanical claw of an unmanned aerial vehicle;
FIG. 2 is a schematic view of the structure of FIG. 1 at another angle;
FIG. 3 is a schematic view of a mounting mechanism according to the present invention;
FIG. 4 is an enlarged schematic view of the portion A in FIG. 3;
FIG. 5 is a schematic view of a structure of a rotating shaft according to the present invention;
fig. 6 is an enlarged schematic view of the portion B in fig. 5.
In the figure: 1. an unmanned aerial vehicle base; 2. a mounting frame; 3. a clamping jaw; 4. a first chute; 5. an electric slide block; 6. a fixed shaft; 7. a guide wheel; 8. a first pull rope; 9. a second pull rope; 10. rectangular grooves; 11. a connecting plate; 12. a limit groove; 13. a connecting block; 14. a second fixing member; 15. the second winding wheel; 16. a second chute; 17. a groove; 18. a biaxial motor; 19. a threaded sleeve; 20. a threaded rod; 21. a moving plate; 22. a limit rod; 23. a first fixing member; 25. a rotating shaft; 26. the first winding wheel; 27. a moving block; 28. a spring; 29. the third winding wheel; 30. and a third pull rope.
Detailed Description
The technical solutions of the present invention will be clearly and completely described in connection with the embodiments, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, an unmanned aerial vehicle remote control hoist and mount gripper, including unmanned aerial vehicle base 1 and mounting bracket 2, mounting bracket 2 sets up in the below of unmanned aerial vehicle base 1, and the inside of unmanned aerial vehicle base 1 is connected with mounting bracket 2 through the installation mechanism that sets up, and two clamping jaws 3 are installed to the bottom symmetry of mounting bracket 2, and four sides of unmanned aerial vehicle base 1 are equipped with first anticreep mechanism and second anticreep mechanism respectively.
As a technical optimization scheme of the invention, two first sliding grooves 4 are formed in the bottom of the mounting frame 2, two electric sliding blocks 5 are arranged in the two first sliding grooves 4, and the top ends of the two clamping jaws 3 are connected with the bottom ends of the electric sliding blocks 5 in the two first sliding grooves 4. In the process that the two groups of electric sliding blocks 5 move towards the mutual approaching direction or the mutual separating direction in the first sliding groove 4, the distance between the two clamping jaws 3 can be driven to be smaller or larger, and then the two clamping jaws 3 can be driven to adapt to clamping and hoisting of articles with different sizes, so that the applicability of the two clamping jaws 3 is greatly improved.
As a technical optimization scheme of the invention, the first anti-disengaging mechanism comprises two rotating shafts 25, the two rotating shafts 25 are respectively and rotatably arranged at two ends of the unmanned aerial vehicle base 1, grooves 17 are respectively formed in positions, close to the two rotating shafts 25, of the unmanned aerial vehicle base 1, first winding wheels 26 are respectively arranged on the outer walls, located in the grooves 17, of the two rotating shafts 25, and first pull ropes 8 are respectively wound on the outer walls of the two first winding wheels 26.
As a technical optimization scheme of the invention, a fixed shaft 6 is arranged in the mounting frame 2, two guide wheels 7 are arranged on the outer wall of the fixed shaft 6, and one ends of the two first pull ropes 8, which are far away from the first winding wheel 26, are respectively in sliding fit with the outer walls of the opposite guide wheels 7.
As a technical optimization scheme of the invention, one ends of the two first pull ropes 8 far away from the first winding wheel 26 are provided with the first fixing pieces 23, and the two first pull ropes 8 are connected with the clamping jaw 3 close to the first fixing pieces 23. When the two clamping jaws 3 clamp articles, the distance between the two clamping jaws 3 is adjusted according to the size of the articles, then the two clamping jaws 3 are driven by an external driving motor to rotate towards the direction close to each other, after the two clamping jaws 3 clamp the articles, the two rotating shafts 25 are started to rotate respectively to drive the two first winding wheels 26 to rotate synchronously, the two first winding wheels 26 can wind the two first pull ropes 8, the other ends of the first pull ropes 8 are pulled through the two guide wheels 7 on the outer wall of the fixed shaft 6 in the mounting frame 2, when the two clamping jaws 3 maintain the clamping state, the two first pull ropes 8 are also in a tensioning state, even if the situation that the clamping jaws 3 suddenly fail occurs in the process of grabbing the articles by the two clamping jaws 3, the two clamping jaws 3 can still receive the pulling action of the two first pull ropes 8, the failure of the clamping jaws 3 is avoided, the articles are enabled to have the risk of falling downwards, the safety of ground workers is ensured, and the lifting operation is carried out smoothly; and two first stay cords 8 are installed through detachable first mounting 23 before with clamping jaw 3, conveniently change the first stay cord 8 of long-time use to maintain the anticreep effect of first stay cord 8.
As a technical optimization scheme of the invention, the second anti-disengaging mechanism comprises a plurality of second winding wheels 15, the front surface and the back surface of the unmanned aerial vehicle base 1 are respectively provided with a second sliding groove 16, two moving blocks 27 are respectively arranged in the two second sliding grooves 16, the plurality of second winding wheels 15 are respectively arranged on the outer walls of the plurality of moving blocks 27 far away from the unmanned aerial vehicle base 1, and the outer walls of the plurality of second winding wheels 15 are respectively wound with a second pull rope 9.
As a technical optimization scheme of the invention, one end, far away from the second winding wheel 15, of the plurality of second pull ropes 9 is provided with a second fixing piece 14, two outer walls of two clamping jaws 3, close to two sides of the unmanned aerial vehicle base 1, are provided with connecting blocks 13, and the plurality of second pull ropes 9 are in threaded connection with the connecting blocks 13, close to the second fixing pieces 14.
As a technical optimization scheme of the invention, the two ends of the two rotating shafts 25 are provided with the third winding wheels 29, the outer walls of the plurality of third winding wheels 29 are wound with the third pull ropes 30, and one ends of the plurality of third pull ropes 30, which are far away from the third winding wheels 29, are connected with the moving blocks 27 which are close to the third winding wheels through springs 28. Because the third winding wheel 29 is arranged at two ends of the rotating shaft 25, the rotating shaft 25 can drive the third winding wheel 29 at two ends to wind the third pull rope 30 when the first pull rope 8 is wound, one end of the third pull rope 30, which is far away from the third winding wheel 29, is connected with the moving block 27 through the spring 28, further, when the third pull rope 30 is wound on the outer wall of the third winding wheel 29, the spring 28 and the moving block 27 can be synchronously pulled to move in the second sliding groove 16 towards the direction close to the rotating shaft 25, when two clamping jaws 3 clamp articles, and when the two clamping jaws 3 clamp the articles, the extreme conditions that the two clamping jaws 3 and the rotating shaft 25 are invalid occur, the rotating shaft 25 can be stretched downwards by the first pull rope 8 to drive the rotating shaft 25 to rotate, so that the third winding wheel 29 at two ends of the rotating shaft 25 is reversely rotated, and the third pull rope 30 wound on the outer wall of the third winding wheel 29 can be in an elongation state, and the spring 28 is reset, so that the moving block 27 moves towards the direction far away from the rotating shaft 25 in the second sliding groove 16, and the second winding wheel 15 is mounted on the outer wall of the moving block 27, and when the second winding wheel 15 is wound on the outer wall of the second sliding groove 16, and the second winding wheel 15 is further, the second clamping jaws 9 is wound on the second winding wheel 9 is far away from the second winding wheel 9, and the second winding wheel is further, and the two clamping jaws are prevented from being connected with the second clamping jaws 3, and the two clamping jaws are further, and the condition that the article is damaged, and the condition that the second clamping jaws are continuously and the second winding jaw is damaged, and the second clamping jaw is connected with the second clamping jaw 3, and can rotate, and the article is further, and can be damaged by the second clamping the rotating and is damaged; and when two clamping jaws 3 carry out centre gripping hoist and mount to the smooth cylindric article in surface, after two clamping jaw 3 cooperation degree cylindric article carry out the centre gripping, can remove the connection between the connecting block 13 of the second mounting 14 of many second stay cords 9 and clamping jaw 3 outer wall to twine many second stay cords 9 at the both ends of cylindric article, further spacing fixed carries out at the both ends of cylindric article, avoid driving clamping jaw 3 to the in-process of cylindric article centre gripping hoist and mount transportation at unmanned aerial vehicle, two clamping jaw 3 appear rocking, make cylindric article drop from the condition between two clamping jaw 3 easily, improve the security of clamping jaw 3 to cylindric article hoist and mount transportation in-process, prevent that it from appearing the condition that drops easily in the way.
As a technical optimization scheme of the invention, the mounting mechanism comprises a rectangular groove 10 formed in the top of an unmanned aerial vehicle base 1, a double-shaft motor 18 is mounted in the rectangular groove 10, two output ends of the double-shaft motor 18 are coaxially connected with threaded sleeves 19, threaded rods 20 are mounted in the two threaded sleeves 19 in a threaded manner, movable plates 21 are mounted at one ends, far away from the two threaded rods 20, of the two movable plates 21, limiting rods 22 are mounted on the outer walls of the two sides, far away from the two movable plates 21, of the two connecting plates 11 are symmetrically mounted at the top of a mounting frame 2, and limiting grooves 12 matched with the limiting rods 22 are formed in the outer walls of the two connecting plates 11. When the installation frame 2 is required to be rapidly installed at the bottom of the unmanned aerial vehicle base 1, the two connecting plates 11 at the top of the installation frame 2 are inserted into the insertion holes at the bottom of the unmanned aerial vehicle base 1 until the top ends of the two connecting plates 11 extend to the inside of the rectangular groove 10, the double-shaft motor 18 is started, the threaded sleeves 19 installed at the two output ends of the double-shaft motor 18 rotate together, the threaded rods 20 inside the two threaded sleeves 19 can be driven to extend towards one end far away from the double-shaft motor 18, the moving plate 21 and the limiting rods 22 are pushed to move towards the direction far away from the double-shaft motor 18 until the two limiting rods 22 are inserted into the limiting grooves 12 on the outer wall of the connecting plates 11, and the installation frame 2 can be installed and fixed conveniently, rapidly and easily operated; the connection between the mounting frame 2 and the unmanned aerial vehicle base 1 is required to be relieved, two clamping jaws 3 at the bottom of the mounting frame 2 can slowly descend downwards through the first pull rope 8, when clamping and hoisting ground objects, only the double-shaft motor 18 is required to be controlled again to start, the threaded sleeve 19 of two output ends is driven to rotate reversely, the two threaded rods 20 drive the moving plate 21 and the limiting rod 22 to move towards the direction close to the double-shaft motor 18, the limiting rod 22 moves out of the limiting groove 12, the mounting frame 2 can automatically fall off from the unmanned aerial vehicle base 1, and clamping and hoisting of the ground objects are facilitated by the clamping jaws 3.
The control method is applied to the hoisting mechanical claw, and comprises the following steps:
step one: when two clamping jaws 3 clamp articles, the two clamping jaws 3 are driven by an external driving motor to rotate towards the direction of approaching each other, after the two clamping jaws 3 clamp the articles, two rotating shafts 25 are respectively started to rotate to wind two first pull ropes 8, so that when the two clamping jaws 3 maintain a clamping state, the two first pull ropes 8 are also in a tensioning state, and the risk that the clamping jaws 3 fail to cause the articles to drop downwards is avoided;
step two: the rotating shaft 25 can drive the third winding wheels 29 at two ends to wind the third pull rope when the first pull rope 8 is wound, when the extreme condition that the two clamping jaws 3 and the rotating shaft 25 are invalid occurs, the rotating shaft 25 is reversed to drive the third pull rope wound on the outer wall of the third winding wheel 29 to be in an extension state, the spring 28 is reset to drive the movable block 27 to move in the second sliding groove 16 in the direction away from the rotating shaft 25, the second winding wheel 15 on the outer wall of the movable block 27 is started and winds the second pull rope 9, so that the two clamping jaws 3 can rotate towards the direction close to each other, the clamping and fixing of the article are continued, damage caused by falling of the article is avoided, and the safety of the mechanical claw in use is further improved;
step three: when the two clamping jaws 3 clamp and hoist the cylindrical object with smooth surface, after the two clamping jaws 3 clamp the cylindrical object with matching degree, the connection between the second fixing pieces 14 of the second pull ropes 9 and the connecting blocks 13 of the outer walls of the clamping jaws 3 can be released, the second pull ropes 9 are wound at two ends of the cylindrical object, the two ends of the cylindrical object are further limited and fixed, the safety of the clamping jaws 3 in the hoisting and transportation process of the cylindrical object is improved, and the condition that the cylindrical object falls off easily in the way is prevented;
step four: when installing the mounting bracket 2 in the bottom of unmanned aerial vehicle base 1, after the top of two connecting plates 11 extends to the inside in rectangular channel 10, start biax motor 18 for the screw sleeve 19 of two output installations of biax motor 18 rotate together, and then can drive the inside threaded rod 20 of two screw sleeve 19 and promote gag lever post 22 cartridge in the spacing inslot 12 of connecting plate 11 outer wall, can install fixedly mounting bracket 2.
According to the invention, when two clamping jaws 3 clamp an article, the distance between the two clamping jaws 3 is adjusted according to the size of the article, then the two clamping jaws 3 are driven to rotate towards the direction of approaching each other by an external driving motor, after the two clamping jaws 3 clamp the article, two rotating shafts 25 are respectively started to rotate to drive two first winding wheels 26 to synchronously rotate, so that the two first winding wheels 26 can wind the two first pull ropes 8, and the other ends of the first pull ropes 8 are pulled by the two guide wheels 7 on the outer wall of a fixed shaft 6 in the mounting frame 2, so that when the two clamping jaws 3 maintain a clamping state, the two first pull ropes 8 are also in a tensioning state, even if the two clamping jaws 3 clamp the article and move upwards, the condition that the clamping jaws 3 suddenly fail occurs, the two clamping jaws 3 can still be subjected to the pulling action of the two first pull ropes 8, the lifting effect of the clamping jaws 3 is avoided, the article is enabled to have the risk of falling down, the safety of ground workers is ensured, and the ground workers can smoothly work; and two first stay cords 8 are installed through detachable first mounting 23 before with clamping jaw 3, conveniently change the first stay cord 8 of long-time use to maintain the anticreep effect of first stay cord 8.
Because the third reel 29 sets up in the both ends of pivot 25, pivot 25 also can drive the third reel 29 at both ends and carry out the rolling to third stay cord 30 when carrying out the rolling to first stay cord 8, and the one end that third stay cord 30 kept away from third reel 29 is connected with movable block 27 through spring 28, and then also can synchronous pulling spring 28 and movable block 27 when the winding of third stay cord 30 is at the outer wall of third reel 29 moves towards being close to pivot 25 direction in second spout 16, when two clamping jaw 3 centre gripping article hoist and mount, when the extreme condition that appears two clamping jaw 3 and pivot 25 all became invalid, pivot 25 can receive the downward stretching that first stay cord 8 is close to clamping jaw 3 one end, drive pivot 25 reverse, make the third reel 29 at pivot 25 both ends reverse, and the third stay cord 30 of third reel 29 outer wall winding can be the extension state, drive spring 28 and reset, make movable block 27 move towards keeping away from pivot 25 direction in second spout 16, because movable block 27 outer wall installs second reel 15, and second reel 15's outer wall 9 is kept away from second reel 9 when the second reel 15's the second reel 9, can be close to second reel 9 when the second clamping jaw 9 makes the second reel 9 to be close to the second connecting jaw 3 and the condition that makes the second thread rotate, the opposite the second reel 9 to be close to the second connecting jaw 3 when making the opposite end, the condition that the second reel is kept away from the second reel 9 to be broken, the opposite the article is kept away from, the opposite the condition when the second connecting jaw 9, the condition was further broken, and can be kept away from the opposite to the second reel, and the opposite end is connected to the second reel is rotated, and can be connected to the second reel 9.
And when two clamping jaws 3 carry out centre gripping hoist and mount to the smooth cylindric article in surface, after two clamping jaw 3 cooperation degree cylindric article carry out the centre gripping, can remove the connection between the connecting block 13 of the second mounting 14 of many second stay cords 9 and clamping jaw 3 outer wall to twine many second stay cords 9 at the both ends of cylindric article, further spacing fixed carries out at the both ends of cylindric article, avoid driving clamping jaw 3 to the in-process of cylindric article centre gripping hoist and mount transportation at unmanned aerial vehicle, two clamping jaw 3 appear rocking, make cylindric article drop from the condition between two clamping jaw 3 easily, improve the security of clamping jaw 3 to cylindric article hoist and mount transportation in-process, prevent that it from appearing the condition that drops easily in the way.
When needing to install the quick bottom at unmanned aerial vehicle base 1 with mounting bracket 2, peg graft two connecting plates 11 at mounting bracket 2 top in the jack of unmanned aerial vehicle base 1 bottom, until after the top of two connecting plates 11 extends to the inside of rectangular channel 10, start biax motor 18, make the screw sleeve 19 of two output installations of biax motor 18 together rotate, and then can drive the inside threaded rod 20 of two screw sleeves 19 and stretch out towards the one end of keeping away from biax motor 18, and promote movable plate 21 and gag lever post 22 and remove towards the direction of keeping away from biax motor 18, until two gag lever posts 22 equal cartridge is in the spacing groove 12 of connecting plate 11 outer wall, can install fixedly to mounting bracket 2, and is convenient and fast, easy operation.
And the connection between the mounting frame 2 and the unmanned aerial vehicle base 1 is required to be relieved, two clamping jaws 3 at the bottom of the mounting frame 2 can slowly descend downwards through the first pull rope 8, when clamping and hoisting ground objects, only the double-shaft motor 18 is required to be controlled again to start, the threaded sleeve 19 of two output ends is driven to rotate reversely, the two threaded rods 20 drive the movable plate 21 and the limiting rod 22 to move towards the direction close to the double-shaft motor 18, the limiting rod 22 moves out from the limiting groove 12, the mounting frame 2 can automatically fall off from the unmanned aerial vehicle base 1, and the clamping jaws 3 are convenient to clamp and hoist the ground objects.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (10)
1. The utility model provides an unmanned aerial vehicle remote control hoist and mount gripper, includes unmanned aerial vehicle base (1) and mounting bracket (2), its characterized in that, mounting bracket (2) set up in the below of unmanned aerial vehicle base (1), and the inside of unmanned aerial vehicle base (1) is connected with mounting bracket (2) through the installation mechanism that sets up, and two clamping jaw (3) are installed to the bottom symmetry of mounting bracket (2), and four sides of unmanned aerial vehicle base (1) are equipped with first anticreep mechanism and second anticreep mechanism respectively.
2. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 1, wherein two first sliding grooves (4) are formed in the bottom of the mounting frame (2), two electric sliding blocks (5) are mounted in the two first sliding grooves (4), and the top ends of the two clamping jaws (3) are connected with the bottom ends of the electric sliding blocks (5) in the two first sliding grooves (4).
3. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 1, wherein the first anti-disengaging mechanism comprises two rotating shafts (25), the two rotating shafts (25) are respectively rotatably installed at two ends of the unmanned aerial vehicle base (1), grooves (17) are formed in positions, close to the two rotating shafts (25), of the unmanned aerial vehicle base (1), first winding wheels (26) are respectively installed on outer walls, located in the grooves (17), of the two rotating shafts (25), and first pull ropes (8) are respectively wound on outer walls of the two first winding wheels (26).
4. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 1, wherein a fixed shaft (6) is installed in the installation frame (2), two guide wheels (7) are installed on the outer wall of the fixed shaft (6), and one ends, far away from the first winding wheels (26), of the two first pull ropes (8) are respectively in sliding fit with the outer walls of the opposite guide wheels (7).
5. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 4, wherein the first fixing pieces (23) are installed at one ends, far away from the first winding wheel (26), of the two first pull ropes (8), and the two first pull ropes (8) are connected with the clamping jaw (3) close to the first fixing pieces (23).
6. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 1, wherein the second anti-disengaging mechanism comprises a plurality of second winding wheels (15), the front surface and the back surface of the unmanned aerial vehicle base (1) are provided with second sliding grooves (16), two moving blocks (27) are arranged in the two second sliding grooves (16), the plurality of second winding wheels (15) are respectively arranged on the outer walls of the plurality of moving blocks (27) far away from the unmanned aerial vehicle base (1), and the outer walls of the plurality of second winding wheels (15) are respectively wound with second pull ropes (9).
7. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 6, wherein a plurality of second stay ropes (9) are far away from one end of a second winding wheel (15) and are all provided with second fixing pieces (14), connecting blocks (13) are all installed on outer walls of two sides, close to an unmanned aerial vehicle base (1), of two clamping jaws (3), and the plurality of second stay ropes (9) are all in threaded connection with the connecting blocks (13) close to the second stay ropes through the second fixing pieces (14).
8. A remote control hoisting gripper for an unmanned aerial vehicle according to claim 3, wherein the third winding wheels (29) are mounted at both ends of the two rotating shafts (25), the outer walls of the third winding wheels (29) are wound with third pull ropes (30), and one ends of the third pull ropes (30) far away from the third winding wheels (29) are connected with the moving blocks (27) close to the third pull ropes through springs (28).
9. The unmanned aerial vehicle remote control hoisting mechanical claw according to claim 1, wherein the installation mechanism comprises a rectangular groove (10) formed in the top of an unmanned aerial vehicle base (1), a double-shaft motor (18) is installed in the rectangular groove (10), two output ends of the double-shaft motor (18) are coaxially connected with threaded sleeves (19), threaded rods (20) are installed in the two output ends of the double-shaft motor (18) in a threaded mode, movable plates (21) are installed at one ends, far away from the two threaded rods (20), of the two threaded rods (20), limiting rods (22) are installed on the outer wall of one side, far away from the two movable plates (21), of the two connecting plates (11) are symmetrically installed at the top of the installation frame (2), and limiting grooves (12) matched with the limiting rods (22) are formed in the outer walls of the two connecting plates (11).
10. The unmanned aerial vehicle remote control hoisting mechanical claw and the control method thereof are characterized in that the control method is applied to the hoisting mechanical claw in the claim 9, and the control method comprises the following steps:
step one: when the two clamping jaws (3) clamp articles, the two clamping jaws (3) are driven to rotate towards the direction close to each other by an external driving motor, after the two clamping jaws (3) clamp the articles, the two rotating shafts (25) are respectively started to rotate to wind the two first pull ropes (8), so that when the two clamping jaws (3) maintain a clamping state, the two first pull ropes (8) are also in a tensioning state, and the risk that the clamping jaws (3) fail to cause the articles to drop downwards is avoided;
step two: the rotating shaft (25) can drive the third winding wheels (29) at two ends to wind the third pull rope when winding the first pull rope (8), when the extreme condition that the two clamping jaws (3) and the rotating shaft (25) are invalid occurs, the rotating shaft (25) reversely rotates to drive the third pull rope wound on the outer wall of the third winding wheels (29) to be in an extension state, the spring (28) resets to drive the moving block (27) to move in the second sliding groove (16) in the direction far away from the rotating shaft (25), the second winding wheels (15) on the outer wall of the moving block (27) start and wind the second pull rope (9), so that the two clamping jaws (3) can rotate in the direction close to each other to continuously clamp and fix an article, damage caused by downward dropping of the article is avoided, and safety of the mechanical claw in use is further improved;
step three: when the two clamping jaws (3) clamp and hoist the cylindrical objects with smooth surfaces, after the two clamping jaws (3) clamp the cylindrical objects with matching degree, the connection between the second fixing pieces (14) of the second pull ropes (9) and the connecting blocks (13) of the outer walls of the clamping jaws (3) can be released, the second pull ropes (9) are wound at the two ends of the cylindrical objects, the two ends of the cylindrical objects are further limited and fixed, the safety of the clamping jaws (3) in the hoisting and transporting process of the cylindrical objects is improved, and falling situations of the clamping jaws (3) in the road are prevented;
step four: install the bottom at unmanned aerial vehicle base (1) with mounting bracket (2), after the top of two connecting plates (11) extends to the inside of rectangle groove (10), start biax motor (18) for screw sleeve (19) of two output installations of biax motor (18) rotate together, and then can drive threaded rod (20) inside two screw sleeve (19) and promote gag lever post (22) cartridge in spacing groove (12) of connecting plate (11) outer wall, can install fixedly mounting bracket (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310170188.3A CN116175628A (en) | 2023-02-27 | 2023-02-27 | Unmanned aerial vehicle remote control hoisting mechanical claw and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310170188.3A CN116175628A (en) | 2023-02-27 | 2023-02-27 | Unmanned aerial vehicle remote control hoisting mechanical claw and control method thereof |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652510A (en) * | 2023-08-02 | 2023-08-29 | 山西中盈万维耐磨材料有限公司 | Novel fusion welding device for casting processing |
| CN117104563A (en) * | 2023-10-21 | 2023-11-24 | 山西中创天达科技有限公司 | Unmanned aerial vehicle is at stop device |
| CN117819204A (en) * | 2024-03-04 | 2024-04-05 | 龙口益友文教用品有限公司 | Transfer handling equipment for pencil production |
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2023
- 2023-02-27 CN CN202310170188.3A patent/CN116175628A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116652510A (en) * | 2023-08-02 | 2023-08-29 | 山西中盈万维耐磨材料有限公司 | Novel fusion welding device for casting processing |
| CN116652510B (en) * | 2023-08-02 | 2023-10-10 | 山西中盈万维耐磨材料有限公司 | Novel fusion welding device for casting processing |
| CN117104563A (en) * | 2023-10-21 | 2023-11-24 | 山西中创天达科技有限公司 | Unmanned aerial vehicle is at stop device |
| CN117104563B (en) * | 2023-10-21 | 2023-12-19 | 山西中创天达科技有限公司 | Unmanned aerial vehicle is at stop device |
| CN117819204A (en) * | 2024-03-04 | 2024-04-05 | 龙口益友文教用品有限公司 | Transfer handling equipment for pencil production |
| CN117819204B (en) * | 2024-03-04 | 2024-04-30 | 龙口益友文教用品有限公司 | Transfer handling equipment for pencil production |
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