CN211196656U - Unmanned aerial vehicle tongs mechanism that hovers - Google Patents
Unmanned aerial vehicle tongs mechanism that hovers Download PDFInfo
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- CN211196656U CN211196656U CN201921323073.9U CN201921323073U CN211196656U CN 211196656 U CN211196656 U CN 211196656U CN 201921323073 U CN201921323073 U CN 201921323073U CN 211196656 U CN211196656 U CN 211196656U
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Abstract
The utility model provides an unmanned aerial vehicle tongs mechanism that hovers, this unmanned aerial vehicle tongs mechanism that hovers are symmetrical structure, and it includes base, translation platform, middle platform, tongs and connects pole and the revolute pair between the platform, rotates through the connecting rod and pulls each platform motion, adjusts the state of tongs. The utility model has the advantages that: this unmanned aerial vehicle tongs mechanism of hovering can rely on unmanned aerial vehicle dead weight to make the tongs grasp object (branch, roof, railing etc.) and realize that unmanned aerial vehicle's stability is hovered, lets unmanned aerial vehicle be used for collecting information rather than hovering in the air with more energy, and this unmanned aerial vehicle tongs mechanism drive is convenient, the kinematics is simple, shrink when folding compact, rigidity is high, bearing capacity is strong.
Description
Technical Field
The utility model relates to an unmanned aerial vehicle motion technical field especially relates to an unmanned aerial vehicle tongs mechanism that hovers.
Background
Unmanned aerial vehicle has obtained extensive application because of its characteristics that need not the manpower just can collect a large amount of useful information. The energy that a drone can carry on one trip is limited, so it is an inefficient act to use energy for hovering when gathering information. If can let unmanned aerial vehicle hover on object (branch, roof, railing etc.) steadily when collecting the information, unmanned aerial vehicle will be used for collecting the information more energy, and the information that makes unmanned aerial vehicle once go on a journey collect is more. Therefore, it is necessary to design a gripper mechanism that needs no energy consumption, has a simple structure, is easy to implement, and can enable the unmanned aerial vehicle to stably hover on an object (tree branch, roof, railing, etc.), so as to provide a new solution for the energy consumption problem of the unmanned aerial vehicle.
SUMMERY OF THE UTILITY MODEL
For solving not enough among the prior art scheme, the embodiment of the utility model provides a can rely on unmanned aerial vehicle dead weight to make unmanned aerial vehicle grasp the object and stably hover an unmanned aerial vehicle tongs mechanism that hovers on this object.
The embodiment of the utility model provides an unmanned aerial vehicle hovering gripper mechanism, which comprises a base, a first revolute pair, a first connecting rod, a second revolute pair, a first middle platform, a third revolute pair, a second connecting rod, a fourth revolute pair, a translation platform, a fifth revolute pair, a third connecting rod, a sixth revolute pair, a second middle platform, a seventh revolute pair, a fourth connecting rod, an eighth revolute pair, a ninth revolute pair, a fifth connecting rod and a tenth revolute pair, the device comprises a sixth connecting rod, an eleventh revolute pair, a twelfth revolute pair, a seventh connecting rod, a thirteenth revolute pair, a fourteenth revolute pair, an eighth connecting rod, a fifteenth revolute pair, a sixteenth revolute pair, a ninth connecting rod, a seventeenth revolute pair, an eighteenth revolute pair, a tenth connecting rod, a nineteenth revolute pair, a twentieth revolute pair, an eleventh connecting rod, a twenty-first revolute pair, a twelfth connecting rod, a first gripper and a second gripper;
the connection relation among the base, the connecting rod, the revolute pair, the platform and the gripper is as follows: the first connecting rod is arranged on the base through a first revolute pair, the first intermediate platform is connected with the first connecting rod through a second revolute pair, the second connecting rod is connected with the first intermediate platform through a third revolute pair, the translation platform is connected with the second connecting rod through a fourth revolute pair, the third connecting rod is connected with the translation platform through a fifth revolute pair, the second intermediate platform is connected with the third connecting rod through a sixth revolute pair, one end of the fourth connecting rod is connected with the second intermediate platform through a seventh revolute pair, the other end of the fourth connecting rod is arranged on the base through an eighth revolute pair, the fifth connecting rod is connected with the first intermediate platform through a ninth revolute pair, one end of the sixth connecting rod is connected with the fifth connecting rod through a tenth revolute pair, the other end of the sixth connecting rod is connected with the second intermediate platform through an eleventh revolute pair, the first gripper is fixedly connected with the first connecting rod, the seventh connecting rod is arranged on the base through a twelfth revolute pair, and the second intermediate platform is connected with, the eighth connecting rod is connected with the second middle platform through a fourteenth rotating pair, the translational platform is connected with the eighth connecting rod through a fifteenth rotating pair, the ninth connecting rod is connected with the translational platform through a sixteenth rotating pair, the third middle platform is connected with the ninth connecting rod through a seventeenth rotating pair, one end of the tenth connecting rod is connected with the third middle platform through an eighteenth rotating pair, the other end of the tenth connecting rod is installed on the base through a nineteenth rotating pair, the eleventh connecting rod is connected with the second middle platform through a twentieth rotating pair, one end of the twelfth connecting rod is connected with the eleventh connecting rod through a twenty-first rotating pair, the other end of the twelfth connecting rod is connected with the third middle platform through a twenty-twelfth rotating pair, and the second gripper is fixedly connected with the tenth connecting rod;
the axes of the first rotating pair and the eighth rotating pair are intersected in the plane of the base, the axes of the first rotating pair and the second rotating pair and the axes of the third rotating pair and the fourth rotating pair and the axes of the nineteenth rotating pair and the eighteenth rotating pair and the axes of the seventeenth rotating pair and the sixteenth rotating pair are parallel to each other, the axes of the second rotating pair and the seventh rotating pair are intersected, the axes of the third rotating pair and the sixth rotating pair are intersected, the axes of the fourth rotating pair and the fifth rotating pair are intersected in the plane of the translation platform, the axes of the ninth rotating pair and the tenth rotating pair and the axes of the eleventh rotating pair and the twenty rotating pair and the axes of the twenty-first rotating pair and the twenty-second rotating pair are parallel to each other, and the axes of the ninth rotating pair and the second rotating pair are perpendicular to each other, the axis of the twelfth revolute pair is intersected with the axis of the nineteenth revolute pair in the base plane, the axis of the thirteenth revolute pair is intersected with the axis of the eighteenth revolute pair, the axis of the fourteenth revolute pair is intersected with the axis of the seventeenth revolute pair, the axis of the fifteenth revolute pair is intersected with the axis of the sixteenth revolute pair in the translation platform, the axis of the sixth revolute pair is collinear or intersected with the axis of the fourteenth revolute pair, and the axis of the seventh revolute pair is collinear or intersected with the axis of the thirteenth revolute pair.
The embodiment of the utility model provides another kind of unmanned aerial vehicle tongs mechanism that hovers still, including base, first revolute pair, first connecting rod, second revolute pair, first middle platform, third revolute pair, the second connecting rod, the fourth revolute pair, the translation platform, the fifth revolute pair, the third connecting rod, the sixth revolute pair, platform in the middle of the second, the seventh revolute pair, the fourth connecting rod, the eighth revolute pair, the ninth revolute pair, the fifth connecting rod, the tenth revolute pair, the sixth connecting rod, the eleventh revolute pair, the twelfth revolute pair, the seventh connecting rod, the thirteenth revolute pair, the eighth connecting rod, the fourteenth revolute pair, the fifteenth revolute pair, the ninth connecting rod, the sixteenth revolute pair, the tenth connecting rod, the seventeenth revolute pair, first tongs and second tongs;
the connection relation among the base, the connecting rod, the revolute pair, the platform and the gripper is as follows: the first connecting rod is arranged on the base through a first revolute pair, the first intermediate platform is connected with the first connecting rod through a second revolute pair, the second connecting rod is connected with the first intermediate platform through a third revolute pair, the translation platform is connected with the second connecting rod through a fourth revolute pair, the third connecting rod is connected with the translation platform through a fifth revolute pair, the second intermediate platform is connected with the third connecting rod through a sixth revolute pair, one end of the fourth connecting rod is connected with the second intermediate platform through a seventh revolute pair, the other end of the fourth connecting rod is arranged on the base through an eighth revolute pair, the fifth connecting rod is connected with the first intermediate platform through a ninth revolute pair, one end of the sixth connecting rod is connected with the fifth connecting rod through a tenth revolute pair, the other end of the sixth connecting rod is connected with the second intermediate platform through an eleventh revolute pair, the seventh connecting rod is arranged on the base through a twelfth revolute pair, the eighth connecting rod is connected with the seventh, the translation platform is connected with the eighth connecting rod through a fourteenth rotating pair, the ninth connecting rod is connected with the translation platform through a fifteenth rotating pair, one end of the tenth connecting rod is connected with the ninth connecting rod through the sixteenth rotating pair, the other end of the tenth connecting rod is installed on the base through a seventeenth rotating pair, the first gripper is fixedly connected with the seventh connecting rod, and the second gripper is fixedly connected with the tenth connecting rod;
the axes of the first rotating pair and the eighth rotating pair are intersected in the plane of the base, the axes of the first rotating pair are respectively parallel to the axes of the second rotating pair, the third rotating pair and the fourth rotating pair, the axes of the second rotating pair and the seventh rotating pair, the axes of the third rotating pair and the sixth rotating pair are intersected, the axes of the fourth rotating pair and the fifth rotating pair are intersected in the plane of the translation platform, the axes of the ninth rotating pair are respectively parallel to the axes of the tenth rotating pair and the eleventh rotating pair, the axes of the ninth rotating pair and the second rotating pair are mutually vertical, the axes of the twelfth rotating pair, the axes of the thirteenth rotating pair, the axes of the fourteenth rotating pair, the axes of the fifteenth rotating pair, the axes of the sixteenth rotating pair and the axes of the seventeenth rotating pair are mutually parallel, the axis of the twelfth rotating pair is intersected with the axis of the first rotating pair in the plane of the base, the axis of the fourteenth rotating pair is intersected with the axis of the fourth rotating pair in the plane of the translation platform, and the axis of the thirteenth rotating pair is perpendicular to the axis of the ninth rotating pair.
The embodiment of the utility model provides a beneficial effect that technical scheme brought is: the utility model discloses an unmanned aerial vehicle tongs mechanism that hovers, unmanned aerial vehicle tongs mechanism that hovers makes unmanned aerial vehicle realize hovering on the object through its dead weight in the flight process, energy saving, make unmanned aerial vehicle go on a journey once can use more energy for information collection; just the utility model discloses an unmanned aerial vehicle tongs mechanism that hovers is symmetrical structure, and the kinematics is simple, still has the easy and rigidity of processing assembly advantage high, that bearing capacity is strong.
Drawings
Fig. 1 is a schematic view of an unmanned aerial vehicle hovering gripper mechanism in embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a hovering gripper mechanism of an unmanned aerial vehicle in embodiment 1 of the present invention when the unmanned aerial vehicle flies;
fig. 3 is a schematic view of an unmanned aerial vehicle hovering gripper mechanism in an extreme hovering state i according to embodiment 1 of the present invention;
fig. 4 is a schematic view of the hovering gripper mechanism of the unmanned aerial vehicle in the second extreme hovering state in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of an unmanned aerial vehicle hovering gripper mechanism according to embodiment 2 of the present invention;
fig. 6 is a schematic diagram of a hovering gripper mechanism of an unmanned aerial vehicle according to embodiment 2 of the present invention when the unmanned aerial vehicle is flying;
fig. 7 is a schematic diagram of an unmanned aerial vehicle hovering gripper mechanism in an extreme hovering state i according to embodiment 2 of the present invention;
fig. 8 is a schematic diagram of the unmanned aerial vehicle hovering gripper mechanism in the second extreme hovering state in embodiment 2 of the present invention.
In the figures 1-4, an FB-base, an R-first rotating pair, a 1-first connecting rod, an R-second rotating pair, an MP-first middle platform, an R-third rotating pair, a 2-second connecting rod, an R-fourth rotating pair, a 1-translation platform, an R-fifth rotating pair, a 03-third connecting rod, an R-sixth rotating pair, an MP-second middle platform, an R-seventh rotating pair, a 14-fourth connecting rod, an R-eighth rotating pair, an R-ninth rotating pair, a 5-fifth connecting rod, an R-tenth rotating pair, a 6-sixth connecting rod, an R-eleventh rotating pair, an R-twelfth rotating pair, a 7-seventh connecting rod, an R-thirteenth rotating pair, an R-fourteenth rotating pair, an 8-eighth connecting rod, an R-fifteenth rotating pair, an R-sixteenth rotating pair, a 9-ninth connecting rod, an R-seventeenth rotating pair, a MP-third middle platform, an R-fourteenth rotating pair, an R-10-eleventh rotating pair, an R-twelfth rotating pair, an R-fifteenth rotating pair, an R-sixteenth rotating pair, a twenty-twelfth rotating pair, a twenty-tenth rotating pair, a hand rotating pair, a R-twenty-tenth rotating pair, a hand rotating pair and a connecting rod.
In the drawings of 5-8, an FB-base, an R1-first rotating pair, a L-first connecting rod, an R2-second rotating pair, an MP 1-first middle platform, an R3-third rotating pair, a L-second connecting rod, an R4-fourth rotating pair, a 1-translation platform, an R5-fifth rotating pair, an L-third connecting rod, an R6-sixth rotating pair, an MP 2-second middle platform, an R7-seventh rotating pair, a L-fourth connecting rod, an R L-eighth rotating pair, an R L-ninth rotating pair, a L-fifth connecting rod, an R L-tenth rotating pair, a L-sixth connecting rod, an R L-eleventh rotating pair, an R L-twelfth rotating pair, a L-seventh connecting rod, an R L-thirteenth rotating pair, a connecting rod of a L-eighth rotating pair, a connecting rod of a R L-fourteenth rotating pair, a R L-seventeenth rotating pair, a connecting rod, a seventeenth rotating pair and a connecting rod.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings.
Example 1:
referring to fig. 1, an embodiment of the present invention provides an unmanned aerial vehicle hovering gripper mechanism, including a base FB, a first revolute pair R, a first link 1, a second revolute pair R, a first intermediate platform MP, a third revolute pair R, a second link 2, a fourth revolute pair R, a translational platform 1, a fifth revolute pair R, a third link 03, a sixth revolute pair R, a second intermediate platform MP, a seventh revolute pair R, a fourth link 14, an eighth revolute pair R, a ninth revolute pair R, a fifth link 5, a tenth revolute pair R, a sixth link 6, an eleventh revolute pair R, a twelfth revolute pair R, a seventh link 7, a thirteenth revolute pair R, a fourteenth revolute pair R, an eighth link 8, a fifteenth revolute pair R, a sixteenth revolute pair R, a ninth link 9, a seventeenth revolute pair R, an eighteenth revolute pair R, a tenth link 10, a nineteenth revolute pair R, a twentieth revolute pair R, a eleventh link 11, a twenty-th revolute pair R, a twenty-second revolute pair R, and a twenty-second revolute pair R;
the connection relationship among the base, the connecting rod, the revolute pair, the platform and the gripper is that a first connecting rod 1 is installed on a base FB through a first revolute pair R, a first middle platform MP is connected with the first connecting rod 1 through a second revolute pair R, a second connecting rod 02 is connected with the first middle platform MP through a third revolute pair R, the translational platform 1 is connected with a second connecting rod 12 through a fourth revolute pair R, a third connecting rod 23 is connected with the translational platform 1 through a fifth revolute pair R, the second middle platform MP is connected with a third connecting rod 33 through a sixth revolute pair R, one end of a fourth connecting rod 44 is connected with the second middle platform MP through a seventh revolute pair R, the other end is installed on the base FB through an eighth revolute pair R, a fifth connecting rod 55 is connected with the first middle platform MP through a ninth revolute pair R, one end of the sixth connecting rod 66 is connected with a fifth connecting rod 75 through a tenth revolute pair R, the other end of the eleventh connecting rod is connected with the second middle platform MP through an eleventh revolute pair R, a first connecting rod 81, a twelfth connecting rod R is fixedly connected with a twelfth connecting rod 7, the twelfth connecting rod R is connected with the twelfth connecting rod 11, the twelfth connecting rod 7 is connected with the twelfth connecting rod 7, the twelfth connecting rod R is connected with the twelfth connecting rod 11, the twelfth connecting rod 7, the twelfth connecting rod R, the twelfth connecting rod is connected with the twelfth connecting rod 7, the twelfth connecting rod R, the eleventh connecting rod R and the twelfth rod R, the twelfth rod R is connected with the twelfth rod 11, the twelfth rod R is connected with the twelfth rod 7, the twelfth rod 11, the twelfth rod 7, the eleventh rotary pair R, the twelfth rod R, the eleventh connecting rod;
the axes of the first and eighth revolute pairs R1 and R8 intersect in the plane of the base FB, the axes of the first and second revolute pairs R1 and R2 and R3 and R4 and R19 and R18 and R17 and R16 are parallel to one another, the axes of the second and seventh revolute pairs R2 and R7 intersect, the axes of the third and sixth revolute pairs R3 and R6 intersect, the axes of the fourth and fifth revolute pairs R4 and R5 intersect in the plane of the platform 1, the axes of the ninth and tenth and twenty-fifth revolute pairs R10 and R11 and R5 and R22 and R21 and twenty-second revolute pairs R57324 and R22 and R24 are parallel to one another, the axis of the ninth revolute pair R9 and the axis of the second revolute pair R2 are perpendicular to each other, the axis of the twelfth revolute pair R12 and the axis of the nineteenth revolute pair R19 intersect in the base FB plane, the axis of the thirteenth revolute pair R13 and the axis of the eighteenth revolute pair R18 intersect, the axis of the fourteenth revolute pair R14 and the axis of the seventeenth revolute pair R17 intersect, the axis of the fifteenth revolute pair R15 and the axis of the sixteenth revolute pair R16 intersect in the translation platform 1, the axis of the sixth revolute pair R6 and the axis of the fourteenth revolute pair R14 are collinear or intersect, and the axis of the seventh revolute pair R7 and the axis of the thirteenth revolute pair R13 are collinear or intersect.
The unmanned aerial vehicle tongs mechanism that hovers of this embodiment has two limits state of hovering, specifically as follows:
extreme hover state one: referring to fig. 3, the first and second grippers are parallel, and can grip the object with the largest diameter.
The extreme hovering state two: referring to fig. 4, the first and second grippers are in contact, and can grip the object with the smallest diameter.
Referring to fig. 2, fig. 3 and fig. 4, the motion process of the hovering gripper mechanism of the unmanned aerial vehicle of the present invention is: when the unmanned aerial vehicle flies and hovers in the air, the mechanism is shown in fig. 2, and the lower ends of the first gripper 2 and the second gripper 3 are farthest away; when the unmanned aerial vehicle carries the mechanism to land, after the base FB contacts with an object (a branch, a roof, a railing, etc.), as the unmanned aerial vehicle continues to land, each link of the mechanism starts to rotate and drives the first gripper 2 and the second gripper 3 to rotate, the heights of the translational platform 1, the first middle platform MP1, the second middle platform MP2 and the third middle platform MP3 start to descend until the first gripper 2 and the second gripper 3 are parallel, and at this time, the mechanism can grip the object with the largest diameter (as shown in fig. 3); as the unmanned aerial vehicle continues to descend, the connecting rods of the mechanism continue to rotate, and the first gripper 2 and the second gripper 3 are driven to rotate, and the translational platform 1, the first intermediate platform MP1, the second intermediate platform MP2 and the third intermediate platform MP3 continue to descend in height until the lower ends of the first gripper 2 and the second gripper 3 contact (as shown in fig. 4); when this mechanism grabs the object, the dead weight of unmanned aerial vehicle and this mechanism can let the tongs grasp the object, realizes hovering of unmanned aerial vehicle on the object.
Example 2:
referring to fig. 5, an embodiment of the present invention provides an unmanned aerial vehicle hovering gripper mechanism, including a base FB, a first revolute pair R1, a first link L1, a second revolute pair R2, a first intermediate platform MP1, a third revolute pair R3, a second link L, a fourth revolute pair R4, a translation platform 1, a fifth revolute pair R5, a third link L, a sixth revolute pair R6, a second intermediate platform MP2, a seventh revolute pair R7, a fourth link L, an eighth revolute pair R L, a ninth revolute pair R L, a fifth link L, a tenth revolute pair R L, a sixth link L, an eleventh revolute pair R L, a twelfth revolute pair R L, a seventh link L, a thirteenth revolute pair R L, an eighth link L, a fourteenth revolute pair R L, a fifteenth revolute pair R L, a sixteenth revolute pair R L, a seventeenth revolute pair R363, a seventeenth revolute pair R L, a seventeenth revolute pair 3610, a seventeenth revolute pair R L, a seventeenth revolut;
the connection relationship among the base, the connecting rod, the revolute pair, the platform and the gripper is that a first connecting rod 1 is installed on a base FB through a first revolute pair R, a first middle platform MP is connected with the first connecting rod 1 through a second revolute pair R, a second connecting rod 02 is connected with the first middle platform MP through a third revolute pair R, the translational platform 1 is connected with a second connecting rod 12 through a fourth revolute pair R, a third connecting rod 23 is connected with the translational platform 1 through a fifth revolute pair R, the second middle platform MP is connected with a third connecting rod 33 through a sixth revolute pair R, one end of a fourth connecting rod 44 is connected with the second middle platform MP through a seventh revolute pair R, the other end is installed on the base FB through an eighth revolute pair R, a fifth connecting rod 55 is connected with the first middle platform MP through a ninth revolute pair R, one end of the sixth connecting rod 66 is connected with a fifth connecting rod 75 through a tenth revolute pair R, the other end of the fourth connecting rod 44 is connected with the second middle platform MP through an eleventh revolute pair R, a seventh connecting rod 87 is installed on the base FB through a twelfth revolute pair R, a thirteenth connecting rod 7, one end of the eighth connecting rod is connected with a fourteenth connecting rod 7, one of the fourteenth connecting rod 7, and a fourteenth connecting rod 7, one end of the fourteenth connecting rod is fixedly connected with the fourteenth connecting rod 10, and the fourteenth connecting rod 7, the fourteenth connecting rod 7 is fixedly connected with the fourteenth connecting rod 7;
the axes of the first and eighth revolute pairs R1 and R8 intersect in the plane of the base FB, the axis of the first revolute pair R1 intersects with the axes of the second and third revolute pairs R2 and R3 and the axis of the fourth revolute pair R4, respectively, the axis of the second revolute pair R2 intersects with the axis of the seventh revolute pair R7, the axis of the third revolute pair R3 intersects with the axis of the sixth revolute pair R6, the axis of the fourth revolute pair R4 intersects with the axis of the fifth revolute pair R5 in the plane of the translation platform 1, the axis of the ninth revolute pair R9 intersects with the axis of the tenth revolute pair R10 and the axis of the eleventh revolute pair R11, the axis of the ninth revolute pair R9 intersects with the axis of the second revolute pair R2, the axis of the twelfth revolute pair 12 and the axis of the thirteenth revolute pair R13 and the axis of the fourteenth revolute pair R5928 and the axis of the fourteenth revolute pair R599 and R599, the axis of the twelfth revolute pair R12 and the axis of the first revolute pair R1 intersect in the plane of the base FB, the axis of the fourteenth revolute pair R14 and the axis of the fourth revolute pair R4 intersect in the plane of the translation platform 1, and the axis of the thirteenth revolute pair R13 and the axis of the ninth revolute pair R9 are perpendicular to each other.
The unmanned aerial vehicle tongs mechanism that hovers of this embodiment has two limits state of hovering, specifically as follows:
extreme hover state one: referring to fig. 7, the first and second grippers are parallel, and can grip the object with the largest diameter.
The extreme hovering state two: referring to fig. 8, the first and second grippers are in contact, and can grip the object with the smallest diameter.
Referring to fig. 6, 7 and 8, the motion process of the hovering gripper mechanism of the unmanned aerial vehicle of the present invention is: when the unmanned aerial vehicle flies in the air and is not suspended, the mechanism is shown in fig. 6, and the lower ends of the first gripper 2 and the second gripper 3 are farthest away; when the unmanned aerial vehicle carries the mechanism to land, after the base FB contacts with an object (a branch, a roof, a railing, etc.), as the unmanned aerial vehicle continues to land, each link of the mechanism starts to rotate and drives the first gripper 2 and the second gripper 3 to rotate, the heights of the translation platform 1, the first middle platform MP1 and the second middle platform MP2 start to descend until the first gripper 2 and the second gripper 3 are parallel, and at this time, the mechanism can grip the object with the largest diameter (as shown in fig. 7); as the unmanned aerial vehicle continues to descend, the connecting rods of the mechanism continue to rotate, and the first gripper 2 and the second gripper 3 are driven to rotate, and the translational platform 1, the first intermediate platform MP1 and the second intermediate platform MP2 continue to descend until the lower ends of the first gripper 2 and the second gripper 3 contact (as shown in fig. 8); when this mechanism grabs the object, the dead weight of unmanned aerial vehicle and this mechanism can let the tongs grasp the object, realizes hovering of unmanned aerial vehicle on the object.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (2)
1. The unmanned aerial vehicle hand grab mechanism is characterized by comprising a base (FB), a first rotating pair (R), a first connecting rod (1), a second rotating pair (R), a first Middle Platform (MP), a third rotating pair (R), a second connecting rod (2), a fourth rotating pair (R), a translation platform (1), a fifth rotating pair (R), a third connecting rod (03), a sixth rotating pair (R), a second Middle Platform (MP), a seventh rotating pair (R), a fourth connecting rod (14), an eighth rotating pair (R), a ninth rotating pair (R), a fifth connecting rod (25), a tenth rotating pair (R), a sixth connecting rod (36), an eleventh rotating pair (R), a twelfth rotating pair (R), a seventh connecting rod (47), a thirteenth rotating pair (R), a fourteenth rotating pair (R), an eighth connecting rod (58), a fifteenth rotating pair (R), a sixteenth rotating pair (R), a ninth connecting rod (69), a seventeenth rotating pair (R), a third middle platform (R), a fourteenth rotating pair (R), a seventeenth) and a fourteenth rotating pair (R), a fifth rotating pair (R), a seventeenth) are connected with a sixteenth rotating pair (R), a fifth rotating pair (R), a sixteenth) through a fifth rotating pair (R), a sixteenth) and a sixteenth rotating pair (R), a sixteenth rotating pair connecting rod (R), a sixteenth) and a sixteenth rotating pair connecting rod (R), a seventeenth) and a fifth rotating pair connecting rod (R), a seventeenth rotating pair connecting rod (R) and a seventeenth connecting rod (R), a seventeenth rotating pair connecting rod (R) and a seventeenth connecting rod (R), a seventeenth connecting rod (R) and a fifth rotating pair (R) and a seventeenth connecting rod (R) and a seventeenth connecting rod (R) and a fifth rotating pair connecting rod (R) and a seventeenth connecting rod (R) and a fifth rotating pair connecting rod (R) and a seventeenth connecting rod (R) and a fifth rotating pair connecting rod (R) and a seventeenth connecting rod (R) and a connecting rod (R) are connected with a connecting rod (R) and a fifth rotating pair connecting rod (R) and a connecting rod (7) and a connecting rod (R) and a connecting rod, a connecting rod (7) and a connecting rod, a connecting rod (R) and a connecting rod, a connecting rod (R) and a connecting rod (7) and a connecting rod, a connecting.
2. An unmanned aerial vehicle gripper mechanism is characterized by comprising a base (FB), a first rotating pair (R), a first connecting rod (1), a second rotating pair (R), a first Middle Platform (MP), a third rotating pair (R), a second connecting rod (2), a fourth rotating pair (R), a translation platform (1), a fifth rotating pair (R), a third connecting rod (03), a sixth rotating pair (R), a second Middle Platform (MP), a seventh rotating pair (R), a fourth connecting rod (14), an eighth rotating pair (R), a ninth rotating pair (R), a fifth connecting rod (25), a tenth rotating pair (R), a sixth connecting rod (36), an eleventh rotating pair (R), a twelfth rotating pair (R), a seventh connecting rod (47), a thirteenth rotating pair (R), an eighth connecting rod (58), a fourteenth rotating pair (R), a fifteenth rotating pair (R), a ninth connecting rod (69), a sixteenth rotating pair (R), a tenth connecting rod (R), a fourteenth connecting rod (R), a fifth rotating pair (R), a fourteenth connecting rod (R) and a fourteenth rotating pair (R), a fourteenth connecting rod (R), a fourteenth rotating pair (R) and a fourteenth rotating pair (R) are connected with a fourteenth rotating pair (R), a seventeenth) through a fifth rotating pair (R), a fourteenth rotating pair (R), a fifth rotating pair (R) and a seventeenth connecting rod (R) and a fifth rotating pair (R), a seventeenth connecting rod (R) and a seventeenth connecting rod (R), a fifth rotating pair (R) and a seventeenth connecting rod (R) and a fifth rotating pair (R) and a seventeenth connecting rod (R) and a fifth connecting rod (R) and a seventeenth connecting rod (R) and a fifth connecting rod (R) and a seventeenth connecting rod (R) and a fifth connecting rod (R) and a sixth.
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| CN201921323073.9U CN211196656U (en) | 2019-08-15 | 2019-08-15 | Unmanned aerial vehicle tongs mechanism that hovers |
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| CN201921323073.9U CN211196656U (en) | 2019-08-15 | 2019-08-15 | Unmanned aerial vehicle tongs mechanism that hovers |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770570A (en) * | 2022-03-30 | 2022-07-22 | 安徽大学 | Full flexible bionic pneumatic manipulator based on branch-imitating structure |
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2019
- 2019-08-15 CN CN201921323073.9U patent/CN211196656U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114770570A (en) * | 2022-03-30 | 2022-07-22 | 安徽大学 | Full flexible bionic pneumatic manipulator based on branch-imitating structure |
| CN114770570B (en) * | 2022-03-30 | 2024-01-19 | 安徽大学 | Fully-flexible bionic pneumatic manipulator based on branch-like structure |
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