CN206367013U - A kind of light-duty paw of unmanned plane - Google Patents
A kind of light-duty paw of unmanned plane Download PDFInfo
- Publication number
- CN206367013U CN206367013U CN201621066632.9U CN201621066632U CN206367013U CN 206367013 U CN206367013 U CN 206367013U CN 201621066632 U CN201621066632 U CN 201621066632U CN 206367013 U CN206367013 U CN 206367013U
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- China
- Prior art keywords
- paw
- duty
- unmanned plane
- light
- sliding block
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Abstract
A kind of light-duty paw of unmanned plane, including：Fixed frame, fixed and arranged to fixed frame motor, be arranged on fixed frame multiple internal drive gears, be connected framework and multiple screw mandrels, multiple sliding blocks, multiple paw arms and the multiple fixing nuts being fixed on each sliding block of each internal drive gear；Wherein, sliding block is arranged on corresponding screw mandrel in the way of it can be slided on corresponding screw mandrel, and motor by driving internal drive gear to cause each sliding block to be slided on corresponding screw mandrel；There is paw arm closing to slot；And each fixing nut is each passed through corresponding closing fluting and is fixed on each sliding block so that each paw arm can be moved via slip of each sliding block in each self-enclosed fluting.The light-duty paw portable construction of unmanned plane of the present utility model, chucking power is stable, and paw has auto-lock function, and current of electric closed-loop control chucking power algorithm is simple, and Control system architecture is succinct, installs adaptability good.
Description
Technical field
The utility model is related to unmanned plane field, more particularly to a kind of light-duty paw of unmanned plane.
Background technology
Currently, paw is installed on unmanned plane to go to perform the development trend that related task is technology application.Due to unmanned plane
Payload it is limited, paw quality requirement is light and handy, to have certain chucking power to crawl thing, while requiring paw for crawl
The profile of object has good adaptability, can be from main regulation grasp force.
Conventional unmanned plane retaining paw all uses steering wheel gear or steering wheel pull rope structural principle, can not to chucking power
Continual and steady to keep, motor rotation blockage overlong time easily burns motor.Specifically, the product of current unmanned plane paw is few,
Common structure has two kinds：One is that light-duty steering wheel and gear clamping device are constituted；Two be to use cable winding machine and tightrope mechanism.It is above-mentioned
Although structure meets light and handy demand, still, and chucking power is unstable, the easy stall of motor.
Therefore, those skilled in the art is directed to developing a kind of portable construction and the stable light-duty hand of unmanned plane of chucking power
Pawl.
Utility model content
In view of the drawbacks described above of prior art, it is light that technical problem to be solved in the utility model is to provide a kind of structure
Just and the stable light-duty paw of unmanned plane of chucking power.
To achieve the above object, the utility model provides a kind of light-duty paw of unmanned plane, including：Fixed frame, fixation
Arrange described to the motor of the fixed frame, the multiple internal drive gears being arranged on the fixed frame, connection
Multiple screw mandrels of fixed frame and each internal drive gear, multiple sliding blocks, multiple paw arms and it is fixed on each sliding block
Multiple fixing nuts；Wherein, the sliding block is arranged on corresponding screw mandrel in the way of it can be slided on corresponding screw mandrel,
And the motor by driving internal drive gear to cause each sliding block to be slided on corresponding screw mandrel；The paw
There is arm closing to slot；And each fixing nut is each passed through corresponding closing fluting and is fixed on each sliding block so that
Each paw arm can be moved via slip of each sliding block in each self-enclosed fluting.
Preferably, the light-duty paw of the unmanned plane also includes：It is fixedly connected on multiple paw arms on the fixed frame
Support, and each paw arm is connected to corresponding paw arm support in precalculated position respectively so that each paw arm can be through
Rotated by slip of each sliding block in each self-enclosed fluting around the precalculated position.
Preferably, in the light-duty paw of the unmanned plane, the fixed frame is circular fixed frame.
Preferably, in the light-duty paw of the unmanned plane, the quantity of the multiple paw arm is four.
Preferably, in the light-duty paw of the unmanned plane, when sliding block is slided into relatively closer to the position of fixed frame,
Contraction state is according to the light-duty paw of the unmanned plane of the utility model preferred embodiment.
Preferably, in the light-duty paw of the unmanned plane, when sliding block slides into the position for being relatively farther from fixed frame,
Open configuration is according to the light-duty paw of the unmanned plane of the utility model preferred embodiment.
Preferably, in the light-duty paw of the unmanned plane, the motor controls clamping using current of electric closed loop
Power.
The light-duty paw portable construction of unmanned plane of the present utility model, chucking power is stable, and paw has auto-lock function, motor
Closed-loop current control chucking power algorithm is simple, and Control system architecture is succinct, installs adaptability good.
The technique effect of design of the present utility model, concrete structure and generation is made furtherly below with reference to accompanying drawing
It is bright, to be fully understood from the purpose of this utility model, feature and effect.
Brief description of the drawings
Fig. 1 is shown according to the overall solid of the light-duty paw of unmanned plane of the utility model preferred embodiment in a contracted state
It is intended to.
Fig. 2 is shown according to overall solid of the light-duty paw of unmanned plane of the utility model preferred embodiment under open configuration
It is intended to.
Fig. 3 is the kind of drive sketch of the light-duty paw of unmanned plane according to the utility model preferred embodiment.
Fig. 4 is the transmission system partial schematic diagram of the light-duty paw of unmanned plane according to the utility model preferred embodiment.
It should be noted that accompanying drawing is used to illustrate the utility model, and unrestricted the utility model.Note, represent structure
Accompanying drawing may be not necessarily drawn to scale.Also, in accompanying drawing, same or similar element indicates same or similar mark
Number.
Embodiment
In the utility model, a kind of light-duty paw of new unmanned plane using method of clamping is referred to more, and especially four refer to clamping
Mode, by the output of motor, many (four) are individual rotates in same direction, and four feed screw nut machines of drive are started by the moving belt of nut
The opening and closing of finger.
Embodiment of the present utility model is described below in conjunction with accompanying drawing.
Fig. 1 is shown according to the overall solid of the light-duty paw of unmanned plane of the utility model preferred embodiment in a contracted state
It is intended to, and Fig. 2 is overall three-dimensional under open configuration according to the light-duty paw of unmanned plane of the utility model preferred embodiment
Schematic diagram, and Fig. 3 is the kind of drive sketch of the light-duty paw of unmanned plane according to the utility model preferred embodiment, and Fig. 4 is
According to the transmission system partial schematic diagram of the light-duty paw of the unmanned plane of the utility model preferred embodiment.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, included according to the light-duty paw of unmanned plane of the utility model preferred embodiment：
Fixed frame 100, fixed and arranged to the fixed frame 100 motor 10, be arranged in it is many on the fixed frame 100
Multiple screw mandrels 30, the multiple sliding blocks of individual internal drive gear 20, the connection fixed frame 100 and each internal drive gear 20
40th, multiple paw arms 50 and the multiple fixing nuts 60 being fixed on each sliding block 40.
Wherein, the sliding block 40 is arranged on corresponding screw mandrel 30 in the way of it can be slided on corresponding screw mandrel 30,
And the motor 10 by driving internal drive gear 20 to cause each sliding block 40 to be slided on corresponding screw mandrel 30；
The paw arm 50 has closing fluting 51；And each fixing nut 60 is each passed through corresponding closing fluting 51 and is fixed on
On each sliding block 40 so that each paw arm 50 can be transported via slip of each sliding block 40 in each self-enclosed fluting 51
It is dynamic.
Wherein, for example, the motor 10 controls chucking power using current of electric closed loop.
Preferably, the fixed frame 100 is circular fixed frame.
For example, when sliding block is slided into relatively closer to the position of fixed frame 100, being preferable to carry out according to the utility model
At the light-duty paw of unmanned plane of example in a contracted state；When sliding block slides into the position for being relatively farther from fixed frame 100, root
It is according to the light-duty paw of the unmanned plane of the utility model preferred embodiment under open configuration.
Preferably, as shown in Figure 1, Figure 2 and Figure 3, according to the light-duty paw of unmanned plane of the utility model preferred embodiment also
Including：Multiple paw arm supports 70 on the fixed frame 100 are fixedly connected on, and each paw arm 50 is respectively predetermined
Position 80 is connected to corresponding paw arm support 70.Thus, each paw arm 50 can be via each sliding block 40 each self-enclosed
Fluting 51 in slip and rotated around the precalculated position 80.
Preferably, the quantity of the multiple paw arm 50 is four.The situation of four paw arms cause grasping stable and
Structure can be simplified simultaneously,
The light-duty paw portable construction of unmanned plane of the present utility model, chucking power is stable, and paw has auto-lock function, motor
Closed-loop current control chucking power algorithm is simple, and Control system architecture is succinct, installs adaptability good.
Preferred embodiment of the present utility model has shown and described in described above, as previously described, it should be understood that this practicality is new
Type is not limited to form disclosed herein, is not to be taken as the exclusion to other embodiment, and available for various other groups
Close, change and environment, and above-mentioned teaching or the technology of association area can be passed through in utility model contemplated scope described herein
Or knowledge is modified.And the change and change that those skilled in the art are carried out do not depart from spirit and scope of the present utility model, then
All should be in the protection domain of the utility model appended claims.
Claims (7)
1. a kind of light-duty paw of unmanned plane, it is characterised in that including：Fixed frame, fixed and arranged to the fixed frame driving
Motor, the multiple internal drive gears being arranged on the fixed frame, the connection fixed frame and each internal drive tooth
Multiple screw mandrels, multiple sliding blocks, multiple paw arms and the multiple fixing nuts being fixed on each sliding block of wheel；Wherein, it is described
Sliding block is arranged on corresponding screw mandrel in the way of it can be slided on corresponding screw mandrel, and the motor passes through driving
Internal drive gear is to cause each sliding block to be slided on corresponding screw mandrel；There is the paw arm closing to slot；And each
Fixing nut is each passed through corresponding closing fluting and is fixed on each sliding block so that each paw arm can be via each cunning
Slip of the block in each self-enclosed fluting and move.
2. the light-duty paw of unmanned plane as claimed in claim 1, it is characterised in that also include：It is fixedly connected on the fixed frame
On multiple paw arm supports, and each paw arm is connected to corresponding paw arm support in precalculated position respectively so that each
Individual paw arm can be via slip of each sliding block in each self-enclosed fluting around precalculated position rotation.
3. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that the fixed frame is circular fixed frame
Frame.
4. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that the quantity of the multiple paw arm is four
It is individual.
5. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that when sliding block is slided into relatively closer to solid
When determining the position of framework, the light-duty paw of unmanned plane is in contraction state.
6. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that be relatively farther from admittedly when sliding block is slided into
When determining the position of framework, the light-duty paw of unmanned plane is in open configuration.
7. the light-duty paw of unmanned plane as claimed in claim 1 or 2, it is characterised in that the motor uses current of electric
Closed loop controls chucking power.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621066632.9U CN206367013U (en) | 2016-09-20 | 2016-09-20 | A kind of light-duty paw of unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621066632.9U CN206367013U (en) | 2016-09-20 | 2016-09-20 | A kind of light-duty paw of unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206367013U true CN206367013U (en) | 2017-08-01 |
Family
ID=59389452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621066632.9U Expired - Fee Related CN206367013U (en) | 2016-09-20 | 2016-09-20 | A kind of light-duty paw of unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206367013U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239541A (en) * | 2016-09-20 | 2016-12-21 | 上海未来伙伴机器人有限公司 | A kind of light-duty paw of unmanned plane |
| CN107954485A (en) * | 2017-11-07 | 2018-04-24 | 徐州工程学院 | Sample clamping device in a kind of underground engineering wastewater treatment integrated equipment |
| CN108848934A (en) * | 2018-07-02 | 2018-11-23 | 东南大学 | A kind of strawberry picking mechanical arm device |
| CN110293362A (en) * | 2019-08-23 | 2019-10-01 | 长沙瑞捷机械科技股份有限公司 | A kind of straight line weldering tipper clamping device |
-
2016
- 2016-09-20 CN CN201621066632.9U patent/CN206367013U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106239541A (en) * | 2016-09-20 | 2016-12-21 | 上海未来伙伴机器人有限公司 | A kind of light-duty paw of unmanned plane |
| CN107954485A (en) * | 2017-11-07 | 2018-04-24 | 徐州工程学院 | Sample clamping device in a kind of underground engineering wastewater treatment integrated equipment |
| CN108848934A (en) * | 2018-07-02 | 2018-11-23 | 东南大学 | A kind of strawberry picking mechanical arm device |
| CN110293362A (en) * | 2019-08-23 | 2019-10-01 | 长沙瑞捷机械科技股份有限公司 | A kind of straight line weldering tipper clamping device |
| CN110293362B (en) * | 2019-08-23 | 2019-12-17 | 长沙瑞捷机械科技股份有限公司 | clamping device for linear welding turnover machine |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170801 Termination date: 20210920 |