CN116495230A - Leg claw mechanism and bionic mechanical leg claw device based on four-rotor unmanned aerial vehicle - Google Patents
Leg claw mechanism and bionic mechanical leg claw device based on four-rotor unmanned aerial vehicle Download PDFInfo
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- CN116495230A CN116495230A CN202310604955.7A CN202310604955A CN116495230A CN 116495230 A CN116495230 A CN 116495230A CN 202310604955 A CN202310604955 A CN 202310604955A CN 116495230 A CN116495230 A CN 116495230A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 210000000078 claw Anatomy 0.000 title claims abstract description 34
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 11
- 210000002414 leg Anatomy 0.000 claims abstract description 53
- 238000004146 energy storage Methods 0.000 claims abstract description 25
- 210000000689 upper leg Anatomy 0.000 claims abstract description 22
- 244000309466 calf Species 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 8
- 230000005611 electricity Effects 0.000 abstract description 3
- 230000001960 triggered effect Effects 0.000 abstract description 3
- 238000005452 bending Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 241000269799 Perca fluviatilis Species 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 208000028804 PERCHING syndrome Diseases 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 210000001145 finger joint Anatomy 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U60/00—Undercarriages
- B64U60/50—Undercarriages with landing legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/68—Arrester hooks
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/16—Mechanical energy storage, e.g. flywheels or pressurised fluids
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Abstract
The application provides a leg claw mechanism and a bionic mechanical leg claw device based on a four-rotor unmanned aerial vehicle, wherein the leg claw mechanism comprises a first base body with a first mounting surface and a second mounting surface; the leg claw body comprises a thigh component, a shank component and a grabbing and placing component, wherein the thigh component is rotatably connected to the first mounting surface, the shank component is connected with the thigh component, and the grabbing and placing component is connected with the shank component; the energy storage assembly comprises a first connecting shaft, a first gear, a winch component and a first driving assembly for driving the first gear to rotate; an energy storage part is further arranged between the first gear and the second mounting surface, and the energy storage part is used for energy storage when the first driving assembly drives the first gear to rotate along the first rotation direction; the first limiting assembly limits the first gear to rotate along the second rotation direction; two ends of the first connecting component are connected with the first limiting component and the grabbing and placing component; according to the scheme, when the mechanism contacts a target object through the energy storage component, the grabbing action of the grabbing and placing component can be triggered by means of the impact force of the mechanism, and the electricity consumption is reduced.
Description
Technical Field
The application relates to the technical field of unmanned aerial vehicles, in particular to a leg claw mechanism and a bionic mechanical leg claw device based on a four-rotor unmanned aerial vehicle.
Background
In recent years, rotorcraft have been used in a large number of locations for earthquake relief, aerial photography, group performance, and detection. It is the application of rotary-wing unmanned aerial vehicles in these industries that people begin to conduct intensive research on rotary-wing unmanned aerial vehicles. Because traditional rotor unmanned aerial vehicle receives flight principle and battery capacity's restriction, be difficult to realize long period task execution to because airborne peripheral hardware generally takes vision as the main, can't realize the nimble operation of target and self low energy consumption perch, this application in tasks such as detecting, environmental monitoring of rotor unmanned aerial vehicle has been restricted. If the unmanned aerial vehicle can fly, perch and grab the function like birds, the above-mentioned problem can be solved. When the unmanned aerial vehicle is in a high-mobility reconnaissance task state, the unmanned aerial vehicle fully utilizes the high-altitude advantage to reconnaissance the target; when the target needs to be monitored for a long time, the target can perch on branches, and low-energy consumption standby reconnaissance is carried out; at present, a leg claw mechanism of the unmanned aerial vehicle is used for realizing grabbing and perching, and driving of a motor is needed, so that the consumption of the electric quantity of the part shortens the flight mileage of the unmanned aerial vehicle; therefore, it is necessary to explore an unmanned aerial vehicle leg claw mechanism which can complete grabbing actions by means of grabbing impact force.
Disclosure of Invention
In view of the above-mentioned drawbacks or shortcomings in the prior art, the present application aims to provide a leg jaw mechanism and a bionic mechanical leg jaw device based on a quadrotor unmanned aerial vehicle.
In a first aspect, the present application provides a leg jaw mechanism comprising:
a first base body having a first mounting surface and a second mounting surface along a first direction;
the leg claw body comprises a thigh component, a shank component and a grabbing and placing component, wherein one end of the thigh component is rotatably connected with the first mounting surface, the shank component is rotatably connected with the thigh component far away from the first mounting surface, and the grabbing and placing component is arranged on the shank component far away from the thigh component;
the energy storage assembly comprises a first connecting shaft penetrating through the first base body along the first direction, a first gear sleeved on the first connecting shaft and close to the second mounting surface end, a winch component sleeved on the first connecting shaft and close to the first mounting surface end, and a first driving assembly used for driving the first gear to rotate along a first rotating direction or a second rotating direction, and the first rotating direction is opposite to the second rotating direction; an energy storage part is further arranged between the first gear and the second mounting surface, and is used for energy storage when the first driving assembly drives the first gear to rotate along the first rotation direction;
the first limiting assembly is provided with a third state and a fourth state, when the first limiting assembly is in the third state, the first gear can rotate along the first rotating direction and the second rotating direction, and when the first limiting assembly is in the fourth state, the first limiting assembly is used for limiting the rotation of the first gear along the second rotating direction;
the first connecting assembly is characterized in that one end of the first connecting assembly is connected with the first limiting assembly, and the end far away from the first limiting assembly is connected with the grabbing and releasing assembly.
According to the technical scheme provided by the embodiment of the application, the first driving assembly comprises a second gear assembly arranged on the second mounting surface, the second gear assembly comprises a first slideway arranged on the second mounting surface, a first sliding shaft with one end arranged in the first slideway, and a second gear sleeved on the first sliding shaft and far away from the first slideway end, the extending direction of the first slideway is a second direction, the second direction is perpendicular to the first direction, the axial direction of the first sliding shaft is the first direction, and the axial center of the first connecting shaft is positioned in the first slideway; the first gear outer ring is provided with a circle of first meshing teeth, and the second gear outer ring is provided with a circle of second meshing teeth matched with the first meshing teeth.
According to the technical scheme provided by the embodiment of the application, the first driving assembly further comprises a third gear assembly, and the third gear assembly is used for driving the second gear and the first sliding shaft to move along the first slideway.
According to the technical scheme provided by the embodiment of the application, the third gear assembly comprises a second connecting shaft arranged on the second mounting surface and a third gear sleeved on the second connecting shaft and close to the second mounting surface, and the outer ring of the third gear is provided with a circle of third meshing teeth matched with the second meshing teeth.
According to the technical scheme provided by the embodiment of the application, the first driving assembly further comprises a fourth gear set, the fourth gear set comprises a fourth gear sleeved on the second connecting shaft and far away from the second mounting surface end, a first driving motor arranged on the second mounting surface and a fifth gear connected with a main shaft of the first driving motor, the axial direction of the main shaft is the second direction, a circle of fourth meshing teeth is arranged on an outer ring of the fourth gear, and a circle of fifth meshing teeth matched with the fourth meshing teeth are arranged on an outer ring of the fifth gear.
According to the technical scheme that this application embodiment provided, leg claw body still includes second coupling assembling, second coupling assembling is used for connecting thigh subassembly with the shank subassembly, second coupling assembling includes two along the first connecting plate of third direction distribution range, two be equipped with the spacing subassembly of second between the first connecting plate, the spacing subassembly of second has two states of fifth state and sixth state, is in when the fifth state, the shank subassembly can be followed first direction of rotation with second direction of rotation is in when the sixth state is used for the restriction shank subassembly is followed second direction of rotation, third direction perpendicular to first direction and perpendicular to the second direction.
According to the technical scheme provided by the embodiment of the application, the leg claw body further comprises a third connecting component, wherein the third connecting component is arranged at the end, far away from the second connecting component, of the lower leg component and is used for connecting the grabbing and placing component and the lower leg component.
According to the technical scheme provided by the embodiment of the application, the grabbing and placing assembly comprises two grabbing hand groups arranged on two sides of the third connecting assembly along the third direction, each grabbing hand group comprises two grabbing hands distributed and arranged along the second direction, and the end, away from the third connecting assembly, of each grabbing hand is provided with a tip; the grabbing and placing assembly is provided with a first state and a second state, when the grabbing and placing assembly is in the first state, four grippers are far away from the end of the third connecting assembly and are close to each other, and when the grabbing and placing assembly is in the second state, four grippers are far away from the end of the third connecting assembly and are far away from each other.
According to the technical scheme provided by the embodiment of the application, the lower leg assembly is further provided with a first tension assembly, and the first tension assembly is connected with the first connecting assembly.
In a second aspect, the present application proposes a bionic mechanical leg jaw device based on a quad-rotor unmanned helicopter, including two of the leg jaw mechanisms described above, and further including a second base body, where the second base body has a third mounting surface and a fourth mounting surface along the first direction; the two leg claw mechanisms are distributed and arranged on the fourth installation surface along the third direction, and the four-rotor unmanned aerial vehicle is arranged on the third installation surface.
In summary, the present application provides a leg claw mechanism and a bionic mechanical leg claw device based on a quad-rotor unmanned helicopter, wherein when a first driving assembly drives a first gear to rotate along a first rotation direction, an energy storage part rotates along the first rotation direction together to store energy; when the mechanism contacts a target object, the grabbing and placing assembly is impacted to cause the thigh assembly and the calf assembly to bend and drive the first connecting assembly to stretch, the first connecting assembly stretches to drive the first limiting assembly to be in the third state, at the moment, the first gear is released from the limitation, the energy storage part can release energy to drive the first gear to rotate along the second rotation direction, and the winch component rotates along the second rotation direction along with the first gear and rapidly contracts the first connecting assembly, so that the grabbing and placing assembly is driven to grab the target object; according to the scheme, when the mechanism contacts a target object through the energy storage component, the grabbing action of the grabbing and placing component can be triggered by means of the impact force of the mechanism, and the electricity consumption is saved.
Drawings
FIG. 1 is a front view of a leg jaw mechanism provided in embodiment 1 of the present application;
FIG. 2 is a side view of a leg jaw mechanism provided in embodiment 1 of the present application;
FIG. 3 is an enlarged view of FIG. 2A;
FIG. 4 is an enlarged view of B in FIG. 2;
FIG. 5 is a top view of a leg jaw mechanism provided in embodiment 1 of the present application;
FIG. 6 is an enlarged view of C in FIG. 5;
fig. 7 is a schematic structural diagram of a bionic mechanical leg jaw device based on a quad-rotor unmanned helicopter provided in embodiment 2 of the present application.
The text labels in the figures are expressed as:
1. a first base body; 101. a first mounting surface; 102. a second mounting surface; 121. winding the upright post; 2. leg claw body; 201. a thigh assembly; 202. a lower leg assembly; 221. the second limiting component; 222. a sixth rope; 223. a fifth rope; 203. steering engine; 204. a second connection assembly; 241. a first connection plate; 205. a third connection assembly; 3. a pick-and-place assembly; 301. a tip portion; 302. a grip; 321. a knuckle; 322. a rubber band; 4. an energy storage assembly; 401. a winch member; 402. a barrel; 404. a first gear; 441. a first engagement tooth; 5. a first limit assembly; 501. a third rope; 6. a first rope; 601. a first branch node; 602. a second rope; 603. a first tension assembly; 7. a second gear; 701. a second meshing tooth; 702. a first slideway; 703. a fourth rope; 8. a fourth gear; 801. a third gear; 9. a fifth gear; 901. a first driving motor; 10. a second base body; 1001. a third mounting surface; 1002. a fourth mounting surface; 1003. a GPS; 1004. supporting the copper column; 1005. a frame; 1006. a power supply battery; 1007. a second driving motor; 1008. and a control unit.
Detailed Description
The present application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be noted that, for convenience of description, only the portions related to the invention are shown in the drawings.
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Example 1
As mentioned in the background art, aiming at the problems in the prior art, the application provides a leg claw mechanism and a bionic mechanical leg claw device based on a four-rotor unmanned aerial vehicle; as shown in fig. 1, a leg claw mechanism includes:
a first base body 1, the first base body 1 having a first mounting surface 101 and a second mounting surface 102 in a first direction; the first base body 1 is a rectangular mounting plate, and the first direction is a vertical direction; the first mounting surface 101 is a bottom surface of the first base body 1, and the second mounting surface 102 is a top surface of the first base body 1;
a leg claw body 2, wherein the leg claw body 2 comprises a thigh assembly 201 with one end rotatably connected with the first mounting surface 101, a shank assembly 202 rotatably connected with the thigh assembly 201 far away from the first mounting surface 101, and a grabbing and placing assembly 3 arranged at the end of the shank assembly 202 far away from the thigh assembly 201; specifically, a steering engine 203 is further disposed between the thigh assembly 201 and the first mounting surface 101, and the steering engine 203 is configured to adjust a grabbing angle of the leg claw body 2, and also can control balance when the unmanned aerial vehicle inhabits;
the energy storage assembly 4, the energy storage assembly 4 includes a first connecting shaft penetrating through the first base body 1 along the first direction, a first gear 404 sleeved on the end, close to the second mounting surface 102, of the first connecting shaft, a winch component 401 sleeved on the end, close to the first mounting surface 101, of the first connecting shaft, and a first driving assembly for driving the first gear 404 to rotate along a first rotation direction or a second rotation direction, wherein the first rotation direction is opposite to the second rotation direction; an energy storage part is further arranged between the first gear 404 and the second mounting surface 102, and is used for storing energy when the first driving assembly drives the first gear 404 to rotate along the first rotation direction; optionally, the first gear 404 is a cylindrical gear, the winch component 401 is a winch, the energy storage part is a spring barrel 402 sleeved on the first connecting shaft and a spring wound in the spring barrel 402, and when the first driving component drives the first gear 404 to rotate, the energy storage part and the winch component 401 also synchronously rotate; wherein the first rotation direction is a counterclockwise direction and the second rotation direction is a clockwise direction;
a first limiting component 5, where the first limiting component 5 has a third state and a fourth state, and in the third state, the first gear 404 is rotatable in the first rotation direction and the second rotation direction, and in the fourth state, the first limiting component is used to limit rotation of the first gear 404 in the second rotation direction; optionally, the first limiting component 5 is a first pawl, when the first limiting component is in the third state, the first gear 404 can rotate clockwise and anticlockwise, and when the first limiting component is in the fourth state, the first gear 404 can only rotate anticlockwise and cannot rotate clockwise;
one end of the first connecting component is connected with the first limiting component 5, and the end far away from the first limiting component 5 is connected with the grabbing and placing component 3;
specifically, the first connection assembly includes a first rope 6, one end of the first rope 6 is wound on the winch component 401, the first rope 6 has a first branching node 601, at the first branching node 601, the first rope 6 is divided into four second ropes 602, each second rope 602 is connected to the end of the grabbing and placing assembly 3, which is close to the lower leg assembly 202, away from the first branching node 601, the first connection assembly further includes a third rope 501, one end of which is wound on the first limiting assembly 5, and one end of the third rope 501, which is far from the first limiting assembly 5, is connected to the first rope 6;
when the mechanism is in flight, the first driving assembly drives the first gear 404 to rotate anticlockwise, and the energy storage part rotates anticlockwise together to store energy; when the mechanism inhabits or grabs a target object, the grabbing and placing assembly 3 impacts a trunk or the target object, so that bending of the thigh assembly 201 and the calf assembly 202 is caused, the first rope 6 is lengthened due to bending, the first rope 6 is lengthened to drive the third rope 501 to be lengthened and drive the first limiting assembly 5 to unlock the first gear 404, the energy storage part can drive the first gear 404 to rotate clockwise after the first gear 404 is released, the winch component 401 rotates clockwise along with the first gear 404 and rapidly contracts the first rope 6, and each second rope 602 is tightened along with the contraction of the first rope 6, so that the grabbing and placing assembly 3 is driven to grab the trunk inhabitation or grabs the target object; according to the scheme, when the mechanism contacts a target object through the arrangement of the energy storage component 4, the grabbing action of the grabbing and releasing component 3 can be triggered by means of the impact force of the mechanism, so that the electricity consumption is saved.
Further, as shown in fig. 5 and fig. 6, the first driving assembly includes a second gear assembly disposed on the second mounting surface 102, the second gear assembly includes a first slide 702 disposed on the second mounting surface 102, a first sliding shaft with one end disposed in the first slide 702, and a second gear 7 sleeved on an end of the first sliding shaft away from the first slide 702, where an extending direction of the first slide 702 is a second direction, the second direction is perpendicular to the first direction, an axial direction of the first sliding shaft is the first direction, and an axial center of the first connecting shaft is located in the first slide 702; the outer ring of the first gear 404 is provided with a circle of first meshing teeth 441, and the outer ring of the second gear 7 is provided with a circle of second meshing teeth 701 matched with the first meshing teeth 441; alternatively, the second gear 7 is a second cylindrical gear, and the second direction is a horizontal direction and is parallel to the short side direction of the first base body 1;
further, the first driving assembly further comprises a third gear assembly, and the third gear assembly is used for driving the second gear 7 and the first sliding shaft to move along the first slideway 702;
further, the third gear assembly includes a second connecting shaft disposed on the second mounting surface 102 and a third gear 801 sleeved on an end of the second connecting shaft near the second mounting surface 102, and a third meshing tooth matched with the second meshing tooth 701 is disposed on an outer ring of the third gear 801; optionally, the third gear 801 is a third cylindrical gear;
further, the first driving assembly further comprises a fourth gear set, the fourth gear set comprises a fourth gear 8 sleeved on the end, far away from the second installation surface 102, of the second connecting shaft, a first driving motor 901 arranged on the second installation surface 102 and a fifth gear 9 connected with a main shaft of the first driving motor, the axial direction of the main shaft is the second direction, a circle of fourth meshing teeth is arranged on an outer ring of the fourth gear 8, and a circle of fifth meshing teeth matched with the fourth meshing teeth is arranged on an outer ring of the fifth gear 9; optionally, the fourth gear 8 and the fifth gear 9 are vertically arranged, the fourth gear 8 is a first bevel gear, the fifth gear 9 is a second bevel gear, and the first driving motor 901 is a direct current motor; the fifth gear 9 drives the fourth gear 8 to rotate, so that power can be transferred from the vertical direction to the horizontal direction;
specifically, when the mechanism needs to be perched and the grabbing and placing assembly needs to be opened, the first driving motor 901 rotates clockwise, the fifth gear 9 rotates clockwise, the fifth meshing teeth mesh with the fourth meshing teeth of the fourth gear 8, so as to drive the fourth gear 8 to rotate anticlockwise, the third gear 801 coaxial with the fourth gear 8 also rotates anticlockwise, the third meshing teeth mesh with the second meshing teeth 701 of the second gear 7, so as to drive the second gear 7 to rotate clockwise and move along the first slideway 702 towards the end close to the first gear 404, until the second meshing teeth 701 mesh with the first meshing teeth 441 of the first gear 404, and the second gear 7 rotates clockwise so as to drive the first gear 404 to rotate anticlockwise; when the first gear 404 rotates anticlockwise, the spring can be driven to rotate anticlockwise, and the spring can store energy when rotating anticlockwise; when the spring energy storage is completed, the first driving motor 901 is reversed, and at this time, the fifth gear 9 rotates anticlockwise to drive the fourth gear 8 to rotate clockwise, and the third gear 801 coaxial with the fourth gear 8 also rotates clockwise to drive the second gear 7 to rotate anticlockwise and move along the first slideway 702 to the end far away from the first gear 404 until the second meshing teeth 701 are separated from the first meshing teeth 441 of the first gear 404;
since the first gear 404 does not immediately rotate clockwise to release the energy of the spring due to the action of the first limiting component 5, when the mechanism inhabits or grabs a target object, the grabbing and placing component 3 impacts the trunk or the target object, so that bending of the thigh component 201 and the calf component 202 is caused, the first rope 6 stretches due to bending, the first rope 6 stretches to drive the third rope 501 to stretch and drive the first limiting component 5 to unlock the first gear 404, the first gear 404 rotates clockwise under the drive of the spring after being released, the winch component 401 rotates clockwise along with the first gear 404 and quickly shrinks the first rope 6, and each second rope 602 tightens along with shrinkage of the first rope 6, so that the grabbing and placing component 3 is driven to grab the trunk inhabited or grabbed the target object.
In addition, the second mounting surface 102 is provided with a winding upright 121, the second gear 7 is connected with the first limiting component 5 through a fourth rope 703, one end of the fourth rope 703 is connected to the second gear 7, the other end of the fourth rope 703 bypasses the winding upright 121 and is connected with the first limiting component 5, and when the second gear 7 rotates anticlockwise and moves along the first slideway 702 to a position far away from the first gear 404, the fourth rope 703 is stretched, so that the first limiting component 5 still limits the rotation of the first gear 404 after the second gear 7 is separated from the first gear 404.
Further, as shown in fig. 3, the leg paw body 2 further includes a second connection component 204, where the second connection component 204 is configured to connect the thigh component 201 with the shank component 202, the second connection component 204 includes two first connection plates 241 distributed and arranged along a third direction, a second limiting component 221 is disposed between the two first connection plates 241, the second limiting component 221 has two states, namely, a fifth state and a sixth state, where, in the fifth state, the shank component 202 can rotate along the first rotation direction and the second rotation direction, and in the sixth state, the second limiting component is configured to limit the shank component 202 to rotate along the second rotation direction, and the third direction is perpendicular to the first direction and the second direction; optionally, the first connecting plate 241 is a triangle connecting plate, the second limiting component 221 is a second pawl, the lower leg component 202 includes an upper lower leg connecting rod, the upper lower leg connecting rod has a sixth engagement tooth, and one end of the second pawl contacts with the upper lower leg connecting rod to limit the lower leg component 202 from rotating clockwise relative to the thigh component 201; the second limiting component 221 is disposed between the two first connecting plates 241; the second limiting component 221 is wound with a fifth rope 223 and a sixth rope 222, one end of the fifth rope 223, which is far away from the second limiting component 221, is connected with the upper lower leg connecting rod, one end of the sixth rope 222, which is far away from the second limiting component 221, is connected with the first rope 6, when the lower leg component 202 is bent, the second limiting component 221 is arranged to avoid swinging of the lower leg component 202 in the flying process, when the lower leg component 202 is restored to the original position from the bent state, the upper lower leg connecting rod drives the fifth rope 223 to stretch so as to unlock the second limiting component 221, and simultaneously, in the process that the lower leg component 202 is restored to the original position from the bent state, the first rope 6 stretches and drives the sixth rope 222 to stretch so as to drive the second limiting component 221 to reset and clamp the lower leg component 202 again.
Further, as shown in fig. 4, the leg paw body 2 further includes a third connection component 205, where the third connection component 205 is disposed at an end of the lower leg component 202 away from the second connection component 204, and is used for connecting the pick-and-place component 3 and the lower leg component 202; further, as shown in fig. 2, the pick-and-place assembly 3 includes two gripper sets disposed on two sides of the third connecting assembly 205 along the third direction, each gripper set includes two grippers 302 distributed and arranged along the second direction, and an end of each gripper 302 away from the third connecting assembly 205 has a tip 301; the pick-and-place assembly 3 has a first state and a second state, when in the first state, the ends of the four grippers 302 far away from the third connecting assembly 205 are close to each other, and when in the second state, the ends of the four grippers 302 far away from the third connecting assembly 205 are far away from each other;
specifically, each grip 302 includes two knuckles 321, and the tip 301 has an eagle claw shape; each second rope 602 is connected to the tip 301 through two finger joints 321, when the first rope 6 drives the second rope 602 to stretch, the gripping assembly 3 is in the first state, and the two finger joints 321 of each gripper 302 are bent in directions approaching to each other, so that gripping action is realized; when the mechanism is perched, the tip 301 of each gripper 302 can penetrate into the trunk to ensure the perching stability of the whole mechanism; a rubber band 322 is connected between two knuckles 321 of each gripper 302, when the mechanism needs to take off again, the first rope 6 turns to a relaxed state, and at this time, the grippers 302 of the gripping and releasing assembly 3 are mutually far away under the action of the tension of the rubber band 322, so that the gripping and releasing assembly 3 is in the second state, and the action of flying back is realized.
Further, a first tension component 603 is further provided on the lower leg component 202, and the first tension component 603 is connected with the first connecting component; optionally, the first tension component 603 is connected to the first rope 6, and when the first rope 6 is stretched, the first tension component 603 may provide a deformation amount so as to balance the stability of the leg claw body 2.
Example 2
On the basis of embodiment 1, further, the present application proposes a bionic mechanical leg-claw device based on a quadrotor unmanned aerial vehicle, as shown in fig. 7, including two leg-claw mechanisms described above, and further including a second base body 10, where the second base body 10 has a third mounting surface 1001 and a fourth mounting surface 1002 along the first direction; the two leg claw mechanisms are distributed and arranged on the fourth mounting surface 1002 along the third direction, and the four-rotor unmanned aerial vehicle is arranged on the third mounting surface 1001; optionally, the second base body 10 is also a rectangular mounting plate, the third mounting surface 1001 is a top surface of the second base body 10, the fourth mounting surface 1002 is a bottom surface of the second base body 10, and the first base body 1 and the second base body 10 are connected through four supporting copper columns 1004; the four-rotor unmanned aerial vehicle comprises a frame 1005 with a model number of F405, a control part 1008, a second driving motor 1007, a GPS1003, a data transmission module and a power supply battery 1006, wherein the control part 1008 comprises an unmanned aerial vehicle controller, the second driving motor 1007 is a direct current brushless motor, and the capacity of the power supply battery 1006 is 5200mAh; the two leg claw mechanisms are identical in structure and identical in movement process, so embodiment 1 will be described by taking one of the leg claw mechanisms as an example; when the device is ready to fly off, the brushless dc motor on the quadrotor unmanned aerial vehicle needs to be started first to provide the lifting force of the device so as to ensure that the grabbing and placing assembly 3 does not suddenly drop when being switched to the second state.
Specific examples are set forth herein to illustrate the principles and embodiments of the present application, and the description of the examples above is only intended to assist in understanding the methods of the present application and their core ideas. The foregoing is merely a preferred embodiment of the present application, and it should be noted that, due to the limited nature of text, there is an objectively infinite number of specific structures, and that, to those skilled in the art, several improvements, modifications or changes can be made, and the above technical features can be combined in a suitable manner, without departing from the principles of the present invention; such modifications, variations and combinations, or the direct application of the concepts and aspects of the invention in other applications without modification, are intended to be within the scope of this application.
Claims (10)
1. A leg jaw mechanism, comprising:
a first base body (1), the first base body (1) having a first mounting surface (101) and a second mounting surface (102) along a first direction;
the leg claw body (2) comprises a thigh component (201) with one end rotatably connected with the first mounting surface (101), a shank component (202) rotatably connected with the thigh component (201) far away from the first mounting surface (101) and a grabbing and placing component (3) arranged at the end, far away from the thigh component (201), of the shank component (202);
the energy storage assembly (4), the energy storage assembly (4) comprises a first connecting shaft penetrating through the first base body (1) along the first direction, a first gear (404) sleeved at the end, close to the second mounting surface (102), of the first connecting shaft, a winch component (401) sleeved at the end, close to the first mounting surface (101), of the first connecting shaft, and a first driving assembly used for driving the first gear (404) to rotate along a first rotation direction or a second rotation direction, and the first rotation direction is opposite to the second rotation direction; an energy storage part is further arranged between the first gear (404) and the second mounting surface (102), and is used for energy storage when the first driving assembly drives the first gear (404) to rotate along the first rotation direction;
the first limiting assembly (5) is provided with a third state and a fourth state, when the first limiting assembly (5) is in the third state, the first gear (404) can rotate along the first rotation direction and the second rotation direction, and when the first limiting assembly is in the fourth state, the first limiting assembly is used for limiting the rotation of the first gear (404) along the second rotation direction;
the first connecting assembly is characterized in that one end of the first connecting assembly is connected with the first limiting assembly (5), and the end far away from the first limiting assembly (5) is connected with the grabbing and placing assembly (3).
2. The leg and claw mechanism according to claim 1, wherein the first driving assembly comprises a second gear assembly arranged on the second mounting surface (102), the second gear assembly comprises a first slideway (702) arranged on the second mounting surface (102), a first sliding shaft with one end arranged in the first slideway (702) and a second gear (7) sleeved on the first sliding shaft and far away from the end of the first slideway (702), the extending direction of the first slideway (702) is a second direction, the second direction is perpendicular to the first direction, the axial direction of the first sliding shaft is the first direction, and the axial center of the first connecting shaft is arranged in the first slideway (702); the outer ring of the first gear (404) is provided with a circle of first meshing teeth (441), and the outer ring of the second gear (7) is provided with a circle of second meshing teeth (701) matched with the first meshing teeth (441).
3. The leg jaw mechanism of claim 2, wherein the first drive assembly further comprises a third gear assembly for driving the second gear (7) and the first sliding shaft along the first slide (702).
4. A leg and claw mechanism according to claim 3 wherein the third gear assembly comprises a second connecting shaft provided on the second mounting surface (102) and a third gear (801) sleeved on the second connecting shaft near the end of the second mounting surface (102), and the outer ring of the third gear (801) is provided with a circle of third meshing teeth matched with the second meshing teeth (701).
5. The leg jaw mechanism according to claim 4, wherein the first driving assembly further comprises a fourth gear set, the fourth gear set comprises a fourth gear (8) sleeved on the end, away from the second mounting surface (102), of the second connecting shaft, a first driving motor (901) arranged on the second mounting surface (102) and a fifth gear (9) connected with a main shaft of the first driving motor, the axial direction of the main shaft is the second direction, an outer ring of the fourth gear (8) is provided with a circle of fourth meshing teeth, and an outer ring of the fifth gear (9) is provided with a circle of fifth meshing teeth matched with the fourth meshing teeth.
6. The leg jaw mechanism according to claim 2, wherein the leg jaw body (2) further comprises a second connection assembly (204), the second connection assembly (204) is configured to connect the thigh assembly (201) and the shank assembly (202), the second connection assembly (204) comprises two first connection plates (241) arranged in a third direction, a second limiting assembly (221) is disposed between the two first connection plates (241), the second limiting assembly (221) has a fifth state and a sixth state, and in the fifth state, the shank assembly (202) is rotatable in the first rotation direction and the second rotation direction, and in the sixth state, the shank assembly (202) is limited to rotate in the second rotation direction, and the third direction is perpendicular to the first direction and perpendicular to the second direction.
7. The leg jaw mechanism according to claim 6, wherein the leg jaw body (2) further comprises a third connection assembly (205), the third connection assembly (205) being provided at an end of the lower leg assembly (202) remote from the second connection assembly (204) for connecting the pick-and-place assembly (3) and the lower leg assembly (202).
8. The leg jaw mechanism according to claim 7, wherein the pick-and-place assembly (3) comprises two gripper groups arranged at two sides of the third connecting assembly (205) along the third direction, each gripper group comprises two grippers (302) distributed and arranged along the second direction, and each gripper (302) has a tip (301) away from the end of the third connecting assembly (205); the grabbing and placing assembly (3) is provided with a first state and a second state, when the grabbing and placing assembly is in the first state, the ends of the four grippers (302) away from the third connecting assembly (205) are close to each other, and when the grabbing and placing assembly is in the second state, the ends of the four grippers (302) away from the third connecting assembly (205) are far away from each other.
9. The leg jaw mechanism according to claim 1, characterized in that a first tension assembly (603) is further provided on the calf assembly (202), the first tension assembly (603) being connected to the first connecting assembly.
10. Bionic mechanical leg jaw device based on a four-rotor unmanned aerial vehicle, characterized by comprising two of the leg jaw mechanisms according to claims 1-9, further comprising a second base body (10), the second base body (10) having a third mounting surface (1001) and a fourth mounting surface (1002) along the first direction; the two leg claw mechanisms are distributed and arranged on the fourth mounting surface (1002) along the third direction, and the four-rotor unmanned aerial vehicle is arranged on the third mounting surface (1001).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310604955.7A CN116495230A (en) | 2023-05-26 | 2023-05-26 | Leg claw mechanism and bionic mechanical leg claw device based on four-rotor unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310604955.7A CN116495230A (en) | 2023-05-26 | 2023-05-26 | Leg claw mechanism and bionic mechanical leg claw device based on four-rotor unmanned aerial vehicle |
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| CN116495230A true CN116495230A (en) | 2023-07-28 |
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| CN202310604955.7A Pending CN116495230A (en) | 2023-05-26 | 2023-05-26 | Leg claw mechanism and bionic mechanical leg claw device based on four-rotor unmanned aerial vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117021063A (en) * | 2023-09-06 | 2023-11-10 | 南京理工大学 | Spring inhaul cable type bionic claw collaborative gripping method triggered by knee bending |
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2023
- 2023-05-26 CN CN202310604955.7A patent/CN116495230A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117021063A (en) * | 2023-09-06 | 2023-11-10 | 南京理工大学 | Spring inhaul cable type bionic claw collaborative gripping method triggered by knee bending |
| CN117021063B (en) * | 2023-09-06 | 2024-02-06 | 南京理工大学 | Spring inhaul cable type bionic claw collaborative gripping method triggered by knee bending |
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