CN207578447U - Grabbing device - Google Patents
Grabbing device Download PDFInfo
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- CN207578447U CN207578447U CN201721685809.8U CN201721685809U CN207578447U CN 207578447 U CN207578447 U CN 207578447U CN 201721685809 U CN201721685809 U CN 201721685809U CN 207578447 U CN207578447 U CN 207578447U
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Abstract
The utility model provides a kind of grabbing device, the grabbing device is used to capture airborne aircraft, the grabbing device includes mechanical arm, jaw components, pedestal, photographing module and identification module, the free end of the mechanical arm is flexibly connected with the jaw components, the fixing end of the mechanical arm is rotatably installed on the pedestal, the photographing module fixing device is on the jaw components, and for identifying the identification module, the identification module fixing device is in the claw portion in the aircraft.Grabbing device provided by the utility model can precisely identify aerial target object, while can accurately track aerial target object, precisely to lock the position of aircraft, realize crawl object, application is strong.
Description
Technical field
The utility model is related to capture airborne aircraft technical field more particularly to a kind of grabbing device.
Background technology
A kind of existing device for capturing object, is made of mechanical arm and claw portion.However, the dress of this crawl object
It puts and is only capable of the changeless object in crawl position, mechanical arm is performed every by the movement locus set as unit of the time
One action, so as to complete the operation function of crawl object, it is impossible to the position real-time change of object is captured, erratic motion
Object, can not realize 360 ° of free movements, and application is not strong.
Utility model content
In view of this, the utility model aim is to provide a kind of grabbing device, can precisely identify aerial target object, together
When can accurately track aerial target object, precisely to lock the position of aircraft, realize crawl object, application is strong.
The utility model provides a kind of grabbing device, and for capturing airborne aircraft, the crawl fills the grabbing device
It puts including mechanical arm, jaw components, pedestal, photographing module and identification module, the free end of the mechanical arm and the card
Claw assembly is flexibly connected, and the fixing end of the mechanical arm is rotatably installed on the pedestal, and the photographing module is fixed
Device is on the jaw components, and for identifying the identification module, and the identification module fixing device is in the aircraft
In claw portion on.
Specifically, the grabbing device further includes control module and transmission mechanism, and the gearing mechanism is in the machinery
On arm, to drive the movement of the mechanical arm and the jaw components, the control module respectively with the transmission mechanism
And the photographing module electrical connection.
Specifically, the identification information for collecting the identification module is sent to the control module by the photographing module,
The control module handles the identification information received to obtain control signal, to control the mechanical arm close to described
Aircraft, and control the claw portion of the jaw components crawl aircraft.
Specifically, the mechanical arm include the first arm, the second arm, third arm and the 4th arm, described first
Rotatably device is on the pedestal for the first end of arm, the second end of first arm and the first of second arm
End flexible connection, the second end of second arm are flexibly connected with the first end of the third arm, the third arm
Second end is flexibly connected with the first end of the 4th arm, the jaw components rotatably device in the 4th arm
In second end.
Specifically, the transmission mechanism includes the first motor, the second motor, third motor, the 4th motor and the 5th motor；
First electric machine is on the pedestal, for first arm to be driven to rotate；Second electric machine is described
In the second end of first arm, for second arm to be driven to be rotated around the second end of first arm；The third electricity
Machine device is in the second end of second arm, for the third arm to be driven to be revolved around the second end of second arm
Turn；4th electric machine is in the second end of the third arm, for driving the 4th arm around the third hand
The second end rotation of arm；5th electric machine is in the second end of the 4th arm, for driving the jaw components
Second end around the 4th arm rotates.
Specifically, first motor, the second motor, third motor, the 4th motor and the 5th motor pass through connection respectively
Line is electrically connected with the control module.
Specifically, the grabbing device further includes control platform, and the control module is installed in the control platform, and
It is electrically connected with the button in the control platform.
Specifically, the jaw components include fixed plate, claw end and connecting pin, and the claw end is slidably disposed on
In the first end face of the fixed plate, the connecting pin is extended outwardly to obtain by the part of the second end face of the fixed plate, institute
The free end that connecting pin is stated with the mechanical arm is flexibly connected.
Specifically, the claw end includes the first fastener and the second fastener that are oppositely arranged, first fastener with it is described
Second fastener can slidably device be in the first end face of the fixed part relatively, and first fastener and second fastener
It is respectively perpendicular the first end face of the fixed plate.
Specifically, the photographing module device is in the first end face of the fixed plate.
It can be seen that grabbing device provided in this embodiment, by the way that mechanical arm relative to 360 ° of rotations of pedestal and is blocked
360 ° of rotations of the free end of claw assembly relative mechanical arm, so that grabbing device can realize 360 ° of free movements, and lead to
It crosses and photographing module is set on jaw components so that grabbing device can precisely identify aerial target object, while can be accurately
Aerial target object is tracked, precisely to lock the position of aircraft, realizes crawl object, application is strong.
Above and other objects, features and advantages to allow the utility model can be clearer and more comprehensible, preferable reality cited below particularly
Example is applied, and coordinates institute's accompanying drawings, is described in detail below.
Description of the drawings
Fig. 1 is the structure diagram of grabbing device that the utility model first embodiment provides.
Fig. 2 is the decomposition texture schematic diagram of grabbing device in Fig. 1.
Fig. 3 is the structure diagram of grabbing device that the utility model second embodiment provides.
Fig. 4 and Fig. 5 is the schematic diagram that the grabbing device that the utility model 3rd embodiment provides captures aircraft.
Specific embodiment
Further to illustrate that the utility model is the technological means and effect that realization expected purpose is taken, below in conjunction with
Attached drawing and preferred embodiment, to according to the utility model proposes the specific embodiment of grabbing device, method, step, structure,
Feature and effect are described in detail as after.
Aforementioned and other technology contents, feature and effect in relation to the utility model, following cooperation with reference to schema compared with
It can clearly be presented in the detailed description of good embodiment.By the explanation of specific embodiment, when can be to the utility model
Reach technological means that expected purpose taken and effect be able to more deeply and it is specific understand, however institute's accompanying drawings only carry
For reference with purposes of discussion, not it is used for limiting the utility model.
It please refers to Fig.1, Fig. 1 is the structure diagram of grabbing device 100 that the utility model first embodiment provides.Such as figure
Shown in 1, grabbing device 100 provided in this embodiment can be, but not limited to capture airborne aircraft 200 (please join Fig. 4).Tool
Body, grabbing device 100 includes mechanical arm 10, jaw components 20, pedestal 30, photographing module 40 (please join Fig. 3) and identification mould
Block (not shown).Specifically, in the present embodiment, the free end 101 of mechanical arm 10 is flexibly connected with jaw components 20, machine
The fixing end 102 of tool arm 10 is rotatably installed on pedestal 30, so that jaw components 20 can follow mechanical arm 10
All-around mobile is carried out, and jaw components 20 can be rotated around the free end of mechanical arm 10 101.Photographing module 40 fixes dress
It puts on jaw components 20, and for identifying identification module.Claw portion 201 of the identification module fixing device in aircraft 200
On (Fig. 4 please be join).Specifically, in the present embodiment, it can be, but not limited to pacify identification module by fastener (not shown)
In the claw portion 201 of aircraft 200, such as fastener can be, but not limited to as screw.
Please also refer to Fig. 2, Fig. 2 is the decomposition texture schematic diagram of grabbing device 100 in Fig. 1.As shown in Figures 1 and 2, have
Body, in the present embodiment, mechanical arm 10 includes the first arm 11, the second arm 12,13 and the 4th arm 14 of third arm.
Rotatably device is on pedestal 30 for the first end 111 of first arm 11,113 and second arm 12 of second end of the first arm 11
First end 121 be flexibly connected, it is to be understood that the first end 111 of the first arm 11 in the present embodiment be mechanical arm
10 fixing end 102.The second end 123 of second arm 12 is flexibly connected with the first end 131 of third arm 13.Third arm 13
Second end 133 be flexibly connected with the first end 141 of the 4th arm 14, jaw components 20 rotatably device in the 4th arm 14
Second end 143 on, it is to be understood that the second end 143 of the 4th arm 14 in the present embodiment be mechanical arm 10 from
By end 101.
Specifically, in one embodiment, jaw components 20 include fixed plate 21, claw end 23 and connecting pin 25, claw
In the first end face (figure does not indicate) that end 23 is slidably disposed on fixed plate 21, connecting pin 25 by fixed plate 21 second end face
The part of (figure does not indicate) extends outwardly to obtain, and connecting pin 25 is flexibly connected with the free end 101 of mechanical arm 10.Specifically,
Claw end 23 includes the first fastener being oppositely arranged (figure does not indicate) and the second fastener (figure does not indicate), the first fastener and the second card
Part can slidably device be in the first end face of fixed part relatively, and the first fastener and the second fastener are respectively perpendicular fixed plate 21
First end face.Specifically, 40 device of photographing module is in the first end face of fixed plate 21, in the present embodiment, can with but it is unlimited
In photographing module 40 is fixedly mounted in the first end face of fixed plate 21 by using fastener, for example, fastener can with but it is unlimited
In for screw.
Please also refer to Fig. 3, Fig. 3 is the structure diagram of grabbing device 100 that the utility model second embodiment provides.Such as
Shown in Fig. 1 to Fig. 3, specifically, in the present embodiment, grabbing device 100 still further comprises control module 50 and transmission mechanism
60.Specifically, gearing mechanism, with the movement of driving manipulator arm 10 and jaw components 20, controls mould on mechanical arm 10
Block 50 is electrically connected respectively with transmission mechanism 60 and photographing module 40.
Specifically, in the present embodiment, the identification information for collecting identification module is sent to control mould by photographing module 40
Block 50, control module 50 handles the identification information received to obtain control signal, with control machinery arm 10 close to aircraft
200, and control the claw portion 201 of the crawl aircraft 200 of jaw components 20.Photographing module 40 can be, but not limited to as video camera etc.
It can be, but not limited to Deng, identification module to identify lamp, such as LED light etc..
Specifically, in one embodiment, transmission mechanism 60 can be, but not limited to the kind of drive for multiple motor forms,
Such as in other embodiments, transmission mechanism 60 can also linked transmission, hydraulic drive etc..Transmission mechanism 60 in the present embodiment
Including including the first motor (not shown), the second motor (not shown), third motor (not shown), the 4th motor (figure
It is not shown) and the 5th motor (not shown).Specifically, in the present embodiment, the first electric machine is on pedestal 30, for driving
Dynamic first arm 11 rotates.Second electric machine is in the second end 113 of the first arm 11, for driving the second arm 12 around the
The second end 113 of one arm 11 rotates.Third electric machine is in the second end 123 of the second arm 12, for driving third hand
Arm 13 is rotated around the second end 123 of the second arm 12.4th electric machine is in the second end 133 of third arm 13, for driving
Dynamic 4th arm 14 is rotated around the second end 133 of third arm 13.5th electric machine is in the second end 143 of the 4th arm 14
On, for jaw components 20 to be driven to be rotated around the second end 143 of the 4th arm 14.Specifically, the first motor, the second motor,
Three motors, the 4th motor and the 5th motor are electrically connected respectively by connecting line with control module 50.
Further, in the present embodiment, grabbing device 100 further includes control platform (not shown), control module 50
It is installed in control platform, and is electrically connected with the button (not shown) in control platform.Operating personnel are opened by depresses button
Dynamic mechanical arm 10, with the skyborne aircraft 200 that will spiral under control signal control.
Please also refer to Fig. 4 and Fig. 5, Fig. 4 and Fig. 5 is that the grabbing device 100 that the utility model 3rd embodiment provides is grabbed
Take the schematic diagram of aircraft 200.As shown in Figures 1 to 5, specifically, grabbing device 100 provided in this embodiment, passes through control
Device makes a return voyage signal to the transmission of aircraft 200, after aircraft 200 to be controlled to receive the signal that makes a return voyage, flight to 200 phase of aircraft
The origin that takes off answered, for example, in the present embodiment, the origin that takes off of aircraft 200 can be, but not limited to as 100 institute of grabbing device
In the overhead of position.Specifically, in the present embodiment, aircraft 200 can be, but not limited to through flight control system, carrier wave phase
Position differential technique (Real-time kinematic, RTK) and determine that high-tech is accurate to hover in 10 position of mechanical arm
Overhead.Mechanical arm 10 has multiple degree of freedom, and identifies 200 bottom of aircraft by photographing module 40 by Visual identification technology
The identification module that portion shines, such as identification module can be, but not limited to as LED light, and the collected identification of photographing module 40 is believed
Number Real-time Feedback is to control module 50.Control module 50 handles to obtain control signal according to identification signal, with control machinery arm
Each arm in 10 is moved accordingly, so that jaw components 20 are capable of the claw portion of real-time tracking aircraft 200
201, in the position in the precisely claw portion 201 of locking aircraft 200, the jaw components of 50 control machinery arm 10 of control module
The first claw and the second claw in 20 open and accurately capture the claw portion 201 of aircraft 200, empty so as to fulfill crawl
In aircraft 200, and pass through mechanical arm 10 will 200 folding and unfolding of aircraft return cabin in.
Specifically, in the present embodiment, when aircraft 200, which receives, makes a return voyage control signal, aircraft 200 will basis
The control signal that makes a return voyage, which make a return voyage flying, is back to the overhead of the origin that takes off corresponding with the aircraft 200, it is to be understood that
The device that flies up receives the control signal that makes a return voyage and makes a return voyage the overhead flown back with 10 position of the mechanical arm.It is located in aircraft 200
The overhead of mechanical arm 10 and device is moved closer in the jaw components 20 on the free end of mechanical arm 10 101, image mould
Block 40 will collect the identification module in aircraft 200 in real time, and collected identification information is fed back to control module 50.
Control module 50 handles to obtain the relative position of aircraft 200 and grabbing device 100 and aircraft 200 according to identification information
The speed of service and acceleration etc., and then according to the relative position and aircraft 200 of aircraft 200 and grabbing device 100
The speed of service handles to obtain drive signal with acceleration, is rotated with each motor on the mechanical upper arm of driving, so as to reach driving
The first arm 11, the second arm 12, third arm 13, the 4th arm 14 and the 5th arm and claw in mechanical arm 10
Component 20 carries out corresponding corresponding movement, so that jaw components 20 accurately capture the claw portion of aerial aircraft 200
201。
It can be seen that grabbing device 100 provided in this embodiment, by the way that 360 ° of mechanical arm 10 with respect to pedestal 30 are revolved
Turn and 360 ° of free end 101 rotations of 20 relative mechanical arm 10 of jaw components, so that grabbing device 100 can be realized
360 ° of free movements, and by setting photographing module 40 on jaw components 20 so that grabbing device 100 can precisely identify sky
Middle object, while aerial target object can be accurately tracked, precisely to lock the position of aircraft 200, realize crawl target
Object, application are strong.
The above descriptions are merely preferred embodiments of the present invention, and not the utility model is made in any form
Limitation, although the utility model has been disclosed with preferred embodiment as above, be not limited to utility model, it is any to be familiar with
Professional and technical personnel is not being departed from the range of utility model technical solution, when the technology contents work using the disclosure above
Go out a little change or be modified to the equivalent embodiment of equivalent variations, as long as being without departing from utility model technical solution content, foundation
Any simple modification, equivalent change and modification that the technical spirit of utility model makees above example, still falls within this reality
In the range of new technique scheme.
Claims (10)
1. a kind of grabbing device, which is characterized in that for capturing airborne aircraft, the grabbing device includes the grabbing device
Mechanical arm, jaw components, pedestal, photographing module and identification module, the free end of the mechanical arm and the jaw components
Flexible connection, the fixing end of the mechanical arm are rotatably installed on the pedestal, and the photographing module fixing device exists
On the jaw components, and for identifying the identification module, card of the identification module fixing device in the aircraft
On claw.
2. grabbing device according to claim 1, which is characterized in that the grabbing device further includes control module and transmission
Mechanism, the gearing mechanism is on the mechanical arm, to drive the movement of the mechanical arm and the jaw components, institute
Control module is stated to be electrically connected with the transmission mechanism and the photographing module respectively.
3. grabbing device according to claim 2, which is characterized in that the photographing module will collect the identification module
Identification information be sent to the control module, the control module handles the identification information received to obtain control letter
Number, to control the mechanical arm close to the aircraft, and control the claw portion of the jaw components crawl aircraft.
4. grabbing device according to claim 2, which is characterized in that the mechanical arm includes the first arm, second-hand
Arm, third arm and the 4th arm, rotatably device is described first-hand on the pedestal for the first end of first arm
The second end of arm is flexibly connected with the first end of second arm, the second end of second arm and the third arm
First end is flexibly connected, and the second end of the third arm is flexibly connected with the first end of the 4th arm, the claw group
Part rotatably device in the second end of the 4th arm.
5. grabbing device according to claim 4, which is characterized in that the transmission mechanism includes the first motor, the second electricity
Machine, third motor, the 4th motor and the 5th motor；First electric machine is on the pedestal, for driving described first
Arm rotates；Second electric machine is in the second end of first arm, for driving second arm around described
The second end rotation of first arm；The third electric machine is in the second end of second arm, for driving described
Three arms are rotated around the second end of second arm；4th electric machine is used in the second end of the third arm
It is rotated in driving second end of the 4th arm around the third arm；5th electric machine is in the 4th arm
In second end, for the jaw components to be driven to be rotated around the second end of the 4th arm.
6. grabbing device according to claim 5, which is characterized in that first motor, the second motor, third motor,
4th motor and the 5th motor are electrically connected respectively by connecting line with the control module.
7. grabbing device according to claim 2, which is characterized in that the grabbing device further includes control platform, described
Control module is installed in the control platform, and is electrically connected with the button in the control platform.
8. grabbing device according to claim 1, which is characterized in that the jaw components include fixed plate, claw end and
Connecting pin, the claw end are slidably disposed in the first end face of the fixed plate, and the connecting pin is by the fixed plate
The part of second end face extend outwardly to obtain, the connecting pin is flexibly connected with the free end of the mechanical arm.
9. grabbing device according to claim 8, which is characterized in that the claw end includes the first fastener being oppositely arranged
With the second fastener, first fastener and second fastener can relatively slidably device in the first end face of the fixed part
On, and first fastener is respectively perpendicular the first end face of the fixed plate with second fastener.
10. grabbing device according to claim 8, which is characterized in that the photographing module device is in the fixed plate
In first end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721685809.8U CN207578447U (en) | 2017-12-06 | 2017-12-06 | Grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721685809.8U CN207578447U (en) | 2017-12-06 | 2017-12-06 | Grabbing device |
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| Publication Number | Publication Date |
|---|---|
| CN207578447U true CN207578447U (en) | 2018-07-06 |
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ID=62736205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721685809.8U Active CN207578447U (en) | 2017-12-06 | 2017-12-06 | Grabbing device |
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| CN (1) | CN207578447U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994874A (en) * | 2018-09-17 | 2018-12-14 | 北京臻迪科技股份有限公司 | Mechanical arm and unmanned plane for unmanned plane |
| CN112061654A (en) * | 2020-08-12 | 2020-12-11 | 久恒理树 | Sorting robot, sorting device, sorting system and sorting method |
| WO2023024186A1 (en) * | 2021-08-26 | 2023-03-02 | 南京蹑波物联网科技有限公司 | Robot for grabbing narrow objects |
-
2017
- 2017-12-06 CN CN201721685809.8U patent/CN207578447U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108994874A (en) * | 2018-09-17 | 2018-12-14 | 北京臻迪科技股份有限公司 | Mechanical arm and unmanned plane for unmanned plane |
| CN112061654A (en) * | 2020-08-12 | 2020-12-11 | 久恒理树 | Sorting robot, sorting device, sorting system and sorting method |
| CN112061654B (en) * | 2020-08-12 | 2022-04-01 | 久恒理树 | Sorting robot, sorting device, sorting system and sorting method |
| WO2023024186A1 (en) * | 2021-08-26 | 2023-03-02 | 南京蹑波物联网科技有限公司 | Robot for grabbing narrow objects |
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