KR102105907B1 - Gripper for unmanned aerial vehicle - Google Patents

Abstract

A gripper for an unmanned aerial vehicle is provided. A gripper for an unmanned aerial vehicle according to an embodiment of the present invention is a gripper coupled with an unmanned aerial vehicle, the body including a fixed portion and a pair of rotating portions, one end of which is rotatably connected to the pair of fixed portions, respectively. part; A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released; A pair of driving units which are respectively connected to each other via the pair of rotation units and link units, and are reciprocating and linearly connected to the rotation of the rotation units; And a pair of locking portions having accommodation spaces for accommodating portions of the driving portions, respectively, and allowing or restraining reciprocating linear motion of the driving portions.

Description

Gripper for unmanned aerial vehicle

The present invention relates to a gripper for an unmanned aerial vehicle.

With the rapid development of aviation technology and communication technology, the development of unmanned aerial vehicles for the purpose of exploration and reconnaissance has been actively conducted. The development of such an unmanned aerial vehicle has the advantage of enabling dangerous or difficult tasks to be carried out by human beings.

Such an unmanned aerial vehicle is widely used for various purposes in everyday life.

That is, the unmanned aerial vehicle is equipped with electronic equipment including a camera unit, a sensor module, a communication module, etc., and is remotely controlled directly by a user, or if an operator pre-programs points to which an unmanned aerial vehicle should pass, the unmanned aerial vehicle is They also fly by adjusting their flight trajectory to reach the point.

Such an unmanned aerial vehicle has a short flight time because the battery is consumed very quickly. In particular, when the unmanned aerial vehicle is suspended while floating in one place during the flight, there is a problem that the battery is unnecessarily consumed in order to maintain its position.

The present invention has been made in view of the above points, and an object of the present invention is to provide a gripper for an unmanned flying device that can prevent the battery of an unmanned flying device from being unnecessarily consumed.

According to an aspect of the present invention, as a gripper that is coupled to the unmanned flying device, the fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and one end is rotatably connected to the fixed part, respectively A body part including a pair of rotating parts; A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released; A pair of driving units which are respectively connected to each other via the pair of rotation units and link units, and are reciprocating and linearly connected to the rotation of the rotation units; It provides a gripper for an unmanned air vehicle comprising a; and a pair of locks to accommodate or constrain the reciprocating linear movement of the driving unit having a receiving arrangement space for accommodating a portion of the driving unit, respectively.

In one embodiment, the link portion may be hinged to one end of the link portion and hinged to the other end of the link portion.

In one embodiment, the unmanned aerial vehicle may be disposed on a side of an arrangement space formed between the fixing part and a pair of locking parts.

In one example, the pair of locking portions may include a stepped portion that is introduced inwardly on opposite surfaces facing each other, and the unmanned flying device is supported by the upper side through the fixing portion and the lower side through the stepped portion. You can.

At this time, the gripper for the unmanned aerial vehicle may further include at least one support portion at which both ends are respectively fixed to the pair of locking portions, and the supporting portion may support the lower surface of the unmanned aerial vehicle together with the stepped portion. have.

As another example, the fixing part may be fixed on the side of the unmanned aerial vehicle through a fastening member.

In one embodiment, the body portion may further include at least one spring member having a predetermined length, and the spring member may have one end fixed to the fixing portion and the other end fixed to the rotating portion.

In one embodiment, the gripping portion may be detachably coupled to the pivoting portion.

In one embodiment, the locking portion may include a spring member having one end contacting the driving portion to press the driving portion in one direction.

In one embodiment, the driving unit, the moving portion is provided with a rod portion hingedly connected to the link portion, and at least one first wing portion slidably coupled along the rod portion and protruding outward along the circumferential surface and the It may be rotatably coupled to the rod portion and disposed at the lower portion of the movable body and may include a rotating body provided with at least one second wing portion protruding outward along the circumferential surface, wherein the driving unit is rotated when the rotating body is rotated. The linear motion may be allowed or restricted through the change of the position of the second wing.

At this time, the locking portion is a hollow-type first holder in which a guide groove is formed along a longitudinal direction on an inner surface, and a spring member coupled to the first holder and pressing the end of the rotating body in one direction is disposed. It may include a two-holder, when the second wing portion of the rotating body is located in the guide groove, the linear movement of the driving unit may be allowed, and the second wing portion of the rotating body deviates from the lower side of the guide groove. In this case, linear movement of the driving unit may be restricted.

In addition, the driving unit may include a stopper coupled to an end of the rod portion, and the stopper may be provided to have a relatively smaller size than the inner diameter of the spring member and may be inserted into the end side of the spring member.

In addition, the first holder may include at least two protrusions protruding from the inner surface, the guide groove may be formed between two adjacent protrusions, and the driving part may include a second wing portion of the rotating body. When moving out of the guide groove and moving to the lower side of the protruding portion, the linear movement of the driving portion may be restricted.

At this time, the protrusion may include an incision that is connected to the guide groove on the lower side and is cut inward.

In addition, one surface of the incision that is in contact with each other and an upper surface of the second wing may be formed as an inclined surface having the same inclination to each other.

In one embodiment, the rod portion may include a first portion hingedly connected to the link portion and a second portion extending from an end portion of the first portion, wherein the first portion is relatively more than the second portion. It may be formed to have a large diameter, the lower surface of the first portion when the vertical movement of the driving portion can press the moving body.

In one embodiment, the movable body may be formed in a serrated shape in which the lower end is formed with alternating bones and hills, and the lower end of the movable body may deviate from the guide groove formed in the locking portion of the second wing of the rotating body. It is possible to provide a pressing force to rotate the rotating body.

In one embodiment, the locking portion may include a cap portion coupled to the second holder so as to seal the opened lower portion of the second holder, and the cap portion may prevent the position of the spring member from being changed. So that a groove portion into which one end of the spring member is inserted may be formed.

According to another aspect of the present invention, as a gripper coupled with the unmanned flying device, the fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and one end is respectively rotatably connected to the fixed part A body part including a pair of rotating parts; A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released; It includes a rotating body provided with at least one wing portion protruding outwardly along the circumferential surface, each of which is connected to each other via the pair of rotation and link portions, and as long as it reciprocates linearly in connection with rotation of the rotation portion A pair of driving units; A locking unit having an accommodation arrangement space accommodating a portion of the driving unit and allowing or restraining a reciprocating linear motion of the driving unit through rotation of the rotating body; And a spring member disposed at the lock part so that one end may come into contact with the drive part and press the drive part in one direction. The unmanned flying device may include a side of the space formed between the fixing part and the pair of lock parts. It provides a gripper for an unmanned aerial vehicle being deployed.

According to the present invention, the battery consumption can be reduced by being able to maintain a state in which the unmanned aerial vehicle is suspended from an existing structure through a grip during flight. Through this, the flight time of the unmanned aerial vehicle can be increased.

In addition, according to the present invention, the gripping portion is operated in a mechanical manner through a rotating portion that is rotated in a link structure without an electronic component such as a motor or a circuit, so that it can be operated smoothly without using a separate battery.

1 is a view showing a gripper for an unmanned aerial vehicle according to an embodiment of the present invention,
Figure 2 is a view showing a state of cutting a portion of the lock in Figure 1,
3 is a view showing a state in which the grip portion is rotated in FIG. 1,
Figure 4 is a partial separation from the main configuration in Figure 1,
5 to 9 are views sequentially showing the operating relationship of the rotation unit, the driving unit and the locking unit in the gripper for an unmanned flight apparatus according to an embodiment of the present invention,
10 is a view showing a state in which the unmanned flying device is coupled to a gripper for an unmanned flying device according to an embodiment of the present invention,
11 is a view showing a gripper for an unmanned aerial vehicle according to another embodiment of the present invention, and
12 is a view showing a state in which an unmanned flying device is coupled to a gripper for an unmanned flying device according to another embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art to which the present invention pertains may easily practice. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. In the drawings, parts not related to the description are omitted in order to clearly describe the present invention, and the same reference numerals will be added to the same or similar elements throughout the specification.

In the present invention, the unmanned aerial vehicle may be an autonomous vehicle in which the pilot remotely controls the vehicle on the ground or autonomously operates in a semi-automatic manner according to a pre-programmed route, without the pilot directly boarding the vehicle. In addition, the unmanned aerial vehicle may be a vehicle equipped with artificial intelligence and performing a mission according to its own environmental judgment.

Such an unmanned aerial vehicle may be a rotary wing unmanned aerial vehicle or a fixed wing unmanned aerial vehicle depending on the type of flight, or may be a multicopter-type vehicle having several propellers. In one example, the multicopter may be a drone. In addition, the unmanned aerial vehicle may be used for industrial or leisure purposes according to a user's purpose of use.

The gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention may hang the unmanned aerial vehicle 10 on a ceiling or a structure fixed in the air. Through this, the unmanned aerial vehicle 10 can reduce battery consumption for maintaining posture or position by being able to maintain a suspended state on the side of the structure when staying in one place for a long time, even if the battery is not additionally installed, the entire flight You can increase the time.

In addition, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention can be operated smoothly without using a separate battery by operating in a mechanical manner through a link structure without electronic components such as a motor or a circuit. .

To this end, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention may include a pair of first units and second units corresponding to each other as shown in FIGS. 1 to 3 and 11, , The gripping parts 120a and 120b provided in the first and second units may be brought into close proximity to or away from each other through rotation, and the state in which the structures are gripped may be released. The first unit and the second unit may be configured separately, or at least partially connected to each other.

The first unit and the second unit may include a body portion 110, a gripping portion (120a, 120b), a driving portion (130a, 130b) and a locking portion (140a, 140b).

The body portion 110 may be fixed to the unmanned flight apparatus 10 by contacting or coupling with the unmanned flight apparatus 10, which is an object to be fixed, and the gripping portions 120a and 120b grip the structure or The gripping portions 120a and 120b may be rotated so as to be separated from the structure.

To this end, the body portion 110 is provided with a fixed portion (111a, 111b) for fixing the unmanned flying device 10 and a rotating portion (112a, 112b) rotatably connected to the fixed portion (111a, 111b) It can contain.

That is, the fixing portion (111a, 111b) is disposed on the upper portion of the unmanned flight device 10, as shown in FIGS. 10 and 12 or coupled through the unmanned flight device 10 and the fastening member 170 By doing so, the unmanned aerial vehicle 10 can be fixed. Here, the fixing part (111a, 111b) may be fixed to the unmanned flying device 10 by being partially inserted into the unmanned flying device (10) side.

In addition, the rotating parts 112a and 112b may have a predetermined length, one end of which is hinged to the fixing parts 111a and 111b and the other end can be connected to the gripping parts 120a and 120b.

Accordingly, the gripper (100,200) for the unmanned flying device according to an embodiment of the present invention is the rotating part (112a, 112b) in the state in which the unmanned flying device (10) is fixed through the fixing parts (111a, 111b) When rotating about the hinge axis (H1, H2) with respect to the government (111a, 111b), the gripping part (120a) of the first unit and the gripping part (120b) of the second unit are brought closer to each other or away from each other. It can be gripped or separated from the structure.

At this time, the gripping portions 120a and 120b may be detachably coupled to the pivoting portions 112a and 112b. Accordingly, the gripping portions 120a and 120b may be easily separated or fastened from the rotating portions 112a and 112b. Through this, when the gripper (100,200) for the unmanned flying device according to an embodiment of the present invention needs replacement of the gripping parts (120a, 120b), the gripping parts (120a, 120b) from the rotating parts (112a, 112b) By separating, it can be easily replaced with other gripping parts 120a and 120b.

In the drawing, when the length of a portion of the entire length is bent as the gripping portions 120a and 120b, the bent portion is the case where the gripping portion 120a of the first unit and the gripping portion 120b of the second unit are brought closer. Although shown in a form that can be hung on the structure, the shape of the gripping parts 120a and 120b is not limited thereto, and any shape that can be easily gripped by the structure can be appropriately changed.

For this reason, the grippers 100 and 200 for an unmanned flying device according to an embodiment of the present invention can be replaced with gripping parts 120a and 120b of an appropriate type according to the shape of a structure to be gripped, thereby increasing convenience of use.

Meanwhile, the rotating parts 112a and 112b may be linked to the driving parts 130a and 130b via a link part 113 having a predetermined length. That is, the link portion 113 may be in the shape of a bar having a predetermined length, one end of which is hinged to the rotating portions 112a and 112b and the other end can be hinged to one side of the driving units 130a and 130b. have.

Accordingly, the rotation unit (112a, 112b) may be interlocked with the movement of the driving unit (130a, 130b), the movement of the driving unit (130a, 130b), for example, when the linear movement of the driving unit (130a, 130b) It can be rotated around the hinge axis (H1, H2). Through this, the gripping part 120a of the first unit and the gripping part 120b of the second unit are close to each other through the rotation of the rotating parts 112a and 112b interlocked with the movement of the driving parts 130a and 130b. The structure can be gripped or separated from the structure by losing or moving away.

Here, the unmanned aerial vehicle 10 is disposed on the side of the arrangement space S formed between the fixing parts 111a and 111b and the locking part 140a of the first unit and the locking part 140b of the second unit. As described above, the unmanned aerial vehicle 10 may be fixed through the fixing parts 111a and 111b.

In this case, the gripping portion 120a of the first unit and the gripping portion 120b of the second unit may be formed with stepped portions 144 that are introduced inward on opposite surfaces facing each other, and the arrangement space The unmanned flying device 10 disposed in (S) may be supported on the lower side through the stepped portion 144.

At this time, the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention can prevent the unmanned flying device 10 from being separated from the arrangement space S and separated from the gripper 100,200 for an unmanned flying device. .

To this end, when the gripper 100 for an unmanned aerial vehicle according to an embodiment of the present invention is disposed on the upper portion of the unmanned aerial vehicle 10, the fixing parts 111a and 111b as shown in FIG. It may include a support unit 160 for connecting the locking unit 140a of the first unit and the locking unit 140b of the second unit to each other.

Here, the support portion 160 may be fixed to both ends of the lock unit 140a of the first unit and the lock unit 140b of the second unit, respectively, and have the same height as the stepped portion 144. Can be deployed.

Accordingly, the unmanned flying device 10 disposed in the arrangement space S may be supported on the upper side through the fixing parts 111a and 111b, and the lower side may be the stepped part 144 and the supporting part 160. It can be prevented from being separated from the arrangement space (S) by being supported through.

As another example, the gripper 200 for an unmanned flying device according to an embodiment of the present invention, as shown in FIGS. 11 and 12, the fixing part 111a, 111b is the unmanned flight through the fastening member 170 It can be coupled directly to the device (10).

Accordingly, the unmanned flying device 10 disposed in the arrangement space (S) may be directly fixed to the upper side via the fixing parts (111a, 111b) and the fastening member 170, the lower side is the stepped portion By being supported through (144) it can be prevented from deviating from the arrangement space (S).

The driving unit (130a, 130b) may be linked to the movement of the rotation unit (112a, 112b) by being linked to the rotation unit (112a, 112b) via the link unit 113 as described above, the The reciprocating linear movement may be performed according to the rotational directions of the rotation units 112a and 112b.

For example, when the rotating parts 112a and 112b are rotated so that the gripping part 120a of the first unit and the gripping part 120b of the second unit are separated from each other, the driving parts 130a and 130b are vertically downward. Can move in a straight line. In addition, when the rotating parts 112a and 112b are rotated so that the gripping part 120a of the first unit and the gripping part 120b of the second unit are close to each other, the driving parts 130a and 130b are vertically upward. Can move in a straight line.

At this time, the driving unit (130a, 130b) is interlocked with the movement of the rotation unit (112a, 112b) can be reciprocated linear movement inside the locking unit (140a, 140b), through the locking unit (140a, 140b) Reciprocating linear motion may be permitted or restricted.

Through this, the gripper (100,200) for the unmanned flying device according to an embodiment of the present invention is a gripping part (1) of the first unit when the linear movement through the locking parts (140a, 140b) is constrained by the driving parts (130a, 130b). 120a) and the holding unit 120b of the second unit can be separated from the structure by maintaining a state apart from each other, and when the driving unit 130a, 130b is allowed to move linearly through the locking units 140a, 140b The structure can be gripped by maintaining the gripping portion 120a of the first unit and the gripping portion 120b of the second unit close to each other.

Accordingly, the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention is suspended from the structure through the gripping parts 120a and 120b when the unmanned flying device 10 needs to stay in one place for a long time. By maintaining the state, the same posture or position can be maintained even if the battery is not consumed.

To this end, the driving unit (130a, 130b) is a rod 131, as shown in Figures 2 and 4, the movable body 132 and the rod is slidably coupled along the rod 131 and the rod It may include a rotating body 133 that is rotatably coupled to the (131) and disposed under the moving body (132).

In addition, the locking portion (140a, 140b) is a first holder 141 of the hollow type is formed with a guide groove (141a) along the longitudinal direction on the inner surface as shown in Figure 4, the first holder 141 and A second holder 142 of a hollow type to be coupled may be included, and a spring member 150 may be disposed inside the second holder 142. Here, the spring member 150 may be a compression spring provided with elastic force through compression when external force is applied.

At this time, one side of the rod portion 131 may be hinged to the link portion 113, and the movable body 132 may include at least one first wing portion 132a protruding outward along the circumferential surface. The rotating body 133 may include at least one second wing portion 133a protruding outward along the circumferential surface.

In addition, the locking portion (140a, 140b) may include a cap portion 143 coupled to the second holder to seal the open bottom of the second holder 142, the cap portion 143 A groove 143a into which one end of the spring member 150 is inserted may be formed to prevent the position of the spring member 150 from being changed.

Accordingly, the spring member 150 disposed inside the second holder 142 has one end supported by the cap portion 143 and the other end in close contact with the end of the rotating body 133 so that the rotating body 133 ) Can be pressed in one direction.

Through this, the drive unit (130a, 130b) may be allowed or restricted linear motion through the position change of the second wing portion (133a) by the rotation of the rotating body (133).

That is, when the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention is located in the guide groove 141a, the second wing portion 133a of the rotating body is shown in FIGS. 5 to 9 Linear movement of the driving units 130a and 130b may be permitted, and when the second wing portion 133a of the rotating body deviates from the lower side of the guide groove 141a, the linear movement of the driving units 130a and 130b This can be redeemed.

Meanwhile, a stopper 134 may be coupled to an end of the rod portion 131, and the stopper 134 may be located under the rotating body 133. Accordingly, the moving body 132 and the rotating body 133 fitted to the rod part 131 are supported by the lower portion of the rotating body 133 through the stopper 134, so that the moving body 132 and the rotating body ( 133) can be prevented from being separated from the rod portion 131.

At this time, the stopper 134 may have a smaller outer diameter than the inner diameter of the spring member 150, as shown in FIG. Accordingly, when the spring member 150 is disposed inside the second holder 142, one end portion in close contact with the end of the rotating body 133 may be disposed to surround the stopper 134.

Through this, the position of the spring member 150 disposed inside the second holder 142 may be fixed through a groove portion 143a formed at one end of the cap portion 143, and the other end portion of the stopper 134 Through the position can be fixed.

Due to this, the spring member 150 can smoothly press the rotating body 133 in one direction without receiving interference from the stopper 134 when the driving parts 130a and 130b are linearly moved.

In addition, one side of the locking portions 140a and 140b may be fixed to the body portion 110 side. Accordingly, the locking portions 140a and 140b may be smoothly moved reciprocally along the guide groove 141a inside the locking portions 140a and 140b.

To this end, the first holder 141 may have a plurality of protrusions 141b protruding from the inner surface, and the plurality of protrusions 141b may be spaced along the inner circumferential surface of the first holder 141. And can be spaced apart.

Accordingly, a guide groove 141a may be formed between two adjacent protrusions 141b in a direction parallel to the height direction of the first holder 141.

Therefore, when the first wing portion 132a of the moving body and the second wing portion 133a of the rotating body are inserted into the guide groove 141a, the first wing portion 132a of the moving body and the removal of the rotating body 2 The wing portion (133a) can be freely moved vertically or vertically along the guide groove (141a), the movable body 132 and the rotating body 133 is restricted rotation through the guide groove (141a) Can be.

At this time, the rod portion 131 may include a first portion 131a hingedly connected to the link portion 113 and a second portion 131b extending from an end of the first portion 131a. The first portion 131a may be formed to have a relatively larger diameter than the second portion 131b.

Accordingly, even if the movable body 132 is rotatably coupled to the rod part 131, when the rod part 131 moves vertically by external force, the first part 131a has a lower surface of the movable body. The movable body 132 may be pressed by contacting the upper surface of the 132.

Due to this, the movable body 132 and the rotating body 133 may be moved vertically downward along the guide groove 141a by the pressing force provided through the first portion 131a of the rod portion.

In this case, the spring member 150 disposed under the rotating body 133 may be pressed by the rotating body 133 to store elastic force.

Accordingly, when the external force applied to the rod portion 131 is removed, the spring member 150 uses the stored elastic force to push the rotating body 133 upwards, thereby moving the body 132 and the rod portion. (131) may move in a straight line vertically upward.

In this case, a cutout 141c may be cut inward in the lower side of the protruding portion 141b, and the cutout 141c may be connected to one side of the guide groove 141a.

Accordingly, the driving unit (130a, 130b) is the lower portion of the projection (141b) from the guide groove (141a) after the second wing portion (133a) of the rotating body moves vertically down along the guide groove (141a) When moving toward the incision 141c formed on the side, vertical upward movement of the driving units 130a and 130b may be restricted.

Due to this, the spring member 150 compressed by the pressing force applied during the vertical downward movement of the driving units 130a and 130b, even if the external force applied to the rod unit 131 is removed, the second wing unit 133a is cut away. When the vertical upward movement is constrained through the portion 141c, the compressed state can be maintained, and when the second wing portion 133a moves from the incision portion 141c to the guide groove 141a, the elastic force is stored. A pressing force capable of moving the driving units 130a and 130b vertically upward may be provided.

At this time, in the rotating body 133, the second wing portion 133a is moved from the guide groove 141a to the incision portion 141c through rotation, or from the incision portion 141c to the guide groove 141a. You can.

To this end, as shown in Figure 4, the movable body 132 may be formed in a sawtooth shape in which the lower end is formed with alternating bones and peaks, and one surface and a second wing of the incision 141c contacting each other. The upper surfaces may be formed of inclined surfaces having the same inclination to each other.

Accordingly, when the driving unit (130a, 130b) moves vertically downward so that the second wing portion (133a) of the rotating body deviates from the lower side of the guide groove (141a), the rotating body (133) is the moving body ( It can be rotated through a toothed structure formed at the lower end of 132).

That is, when the upper surface of the second wing portion (133a) is provided with a pressing force to press the second wing portion (133a) vertically downward while the lower end of the mobile body 132 is in close contact with the second wing portion The upper surface of (133a) can be rotated by rotating the rotator 133 by being able to slide along the valleys or hills formed at the lower end of the movable body (132).

Through this, the second wing portion 133a moves from the guide groove 141a to the incision portion 141c through the rotation of the rotating body 133, or the guide groove 141a from the incision portion 141c. Can be moved to the side.

Meanwhile, the grippers 100 and 200 for an unmanned flying device according to an embodiment of the present invention may further include at least one spring member 114 in the body portion 110.

The spring member 114 is moved to the guide groove (141a) side while the second wing portion (133a) of the rotating body 133 is located on the side of the incision portion (141c), the drive unit (130a, 130b) When is moved vertically upward, the driving units 130a and 130b may provide a restoring force capable of rapidly moving vertically upward.

To this end, the spring member 114 has a predetermined length, one end is fixed to the fixing parts 111a and 111b, and the other end can be fixed to the pivoting parts 112a and 112b, and the spring member 114 ) May be a tension spring.

For example, the spring member 114 may have one end fixed to a coupling groove 115 formed in the fixing parts 111a and 111b, and the other end having a coupling hole 116 formed in the rotation parts 112a and 112b. ), And the middle of the length may be in contact with the rotating parts 112a and 112b.

Accordingly, when the pivoting portions 112a and 112b rotate so that the gripping portion 120a of the first unit and the gripping portion 120b of the second unit are separated from each other, the entire length of the spring member 114 increases. The elastic force may be stored by bending the middle of the length through one end fixed to the coupling groove 115 and a portion in contact with the rotating parts 112a and 112b.

In this state, when the rotating parts 112a and 112b rotate so that the gripping part 120a of the first unit and the gripping part 120b of the second unit come close to each other, the spring member 114 is provided. Through the elastic force, the gripping part 120a of the first unit and the gripping part 120b of the second unit can be quickly approached.

Through this, when the gripping part 120a of the first unit and the gripping part 120b of the second unit are changed to the state of gripping the structure 20 fixed to the ceiling or the air of the building, the structure 20 It can be gripped quickly.

In the present invention, when the external force applied to the rod part 131 moves upward while the unmanned flying device 10 is mounted on the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention, the The gripping parts 120a and 120b may be a pressing force generated by striking the ceiling or structure side of the building.

Accordingly, the gripper (100,200) for an unmanned flying device according to an embodiment of the present invention is intended to hang the unmanned flying device 10 on a ceiling or a structure fixed in the air, the altitude of the unmanned flying device 10 By raising the end of the gripping portion (120a, 120b) may hit the ceiling or structure of the building.

Through this, the gripper (100,200) for an unmanned flying device according to an embodiment of the present invention may be provided with an external force that presses the gripping parts (120a, 120b) downward, and the wave of the first unit through the above-described process. The branch 120a and the gripping portion 120b of the second unit may be moved closer to each other or closer to each other.

Due to this, the unmanned flying device 10 equipped with the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention is suspended from the ceiling or the structure 20 fixed to the air or separated from the structure 20 Afterwards, a free flight may be possible.

Specifically, as shown in FIGS. 5 and 9, when the gripping part 120a of the first unit and the gripping part 120b of the second unit are in a first state close to each other, the unmanned flying device 10 By raising the altitude, the ends of the gripping portions 120a and 120b may hit the ceiling or structure of the building. Through this, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention is vertically moved and rotated 112a of the driving units 130a and 130b in the first state as illustrated in FIGS. 5 to 7. , 112b), the holding unit 120a of the first unit and the holding unit 120b of the second unit may be changed to a second state away from each other.

At this time, the second state of the moving body 132 and the rotating body 133 by moving the second wing portion 133a of the rotating body 133 toward the incision portion 141c as shown in FIG. The vertical upward movement may be constrained.

In this state, the unmanned flying device 10 equipped with the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention is configured to allow the structure 20 to fly through the gripping part 120a of the first unit and After changing the position so as to be positioned between the gripping portions 120b of the second unit, the ends of the gripping portions 120a and 120b may be hit back to the ceiling or structure of the building by changing the altitude.

Due to this, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention is changed from the second state to the first state through the state as shown in FIGS. The unmanned flying device 10 may be suspended from the structure 20 through the branch 120a and the gripping portion 120b of the second unit.

Thereafter, when the unmanned flying device 10 is to be separated from the structure 20, by raising the altitude of the unmanned flying device 10, the end portions of the gripping parts 120a and 120b collide with the ceiling or structure of the building. A pressing force may be provided to the gripping portions 120a and 120b.

Through this, the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention can be changed from the first state to the second state, and the unmanned flying device 10 is freely separated from the structure 20 Can fly.

Accordingly, the gripper 100,200 for an unmanned airfield according to an embodiment of the present invention can reduce battery consumption by being able to maintain a state in which an unmanned flying device is suspended from an existing structure through a grip during flight. Through this, the flight time of the unmanned aerial vehicle can be increased.

In addition, the gripper 100,200 for an unmanned airfield according to an embodiment of the present invention does not use a separate battery because the gripping part is operated in a mechanical manner through a rotating part that is rotated in a link structure without electronic components such as a motor or a circuit. If not, it can work smoothly.

In the above description, the unmanned flying device 10 is free by changing the grippers 100 and 200 for the unmanned flying device sequentially to the first state-the second state-the first state-the second state according to an embodiment of the present invention It has been described that the flight state and the structure 20 are changed to a suspended state, but is not limited thereto, and when the gripper 100,200 for an unmanned flying device according to an embodiment of the present invention is in the second state, the second state-the first state -It is revealed that the unmanned flying device 10 can be changed to a free flight state and a state suspended from the structure 20 by sequentially changing to a second state.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments presented herein, and those skilled in the art to understand the spirit of the present invention may add elements within the scope of the same spirit. However, other embodiments may be easily proposed by changing, deleting, adding, or the like, but it will also be considered to be within the scope of the present invention.

100,200: Gripper for unmanned flying device 110: Body part
111a, 111b: fixing section 112a, 112b: rotating section
113: link portion 114: spring member
115: coupling groove 116: coupling hole
120a, 120b: gripping unit 130a, 130b: driving unit
131: rod portion 131a: first part
131b: second part 132: moving object
132a: first wing portion 133: rotating body
133a: second wing portion 134: stopper
140a, 140b: lock 141: first holder
141a: guide groove 141b: protrusion
141c: incision 142: second holder
143: cap portion 143a: groove
144: stepped portion 150: spring member
160: support 170: fastening member

Claims (19)

As a gripper combined with an unmanned flying device,
A body part including a fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and a pair of rotating parts, each of which is rotatably connected to the fixed part;
A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released;
A pair of driving units which are respectively connected to each other via the pair of rotation units and link units, and are reciprocating and linearly connected to the rotation of the rotation units; And
It includes; a pair of locking portions having a receiving arrangement space for accommodating a part of the driving portion, and allowing or restraining a reciprocating linear motion of the driving portion;
The unmanned flying device is a gripper for an unmanned flying device which is disposed on a side of an arrangement space formed between the fixing part and a pair of locking parts. According to claim 1,
The link portion is a gripper for an unmanned aerial vehicle in which one end is hingedly connected to the rotating portion and the other end is hingedly connected to the driving portion. delete According to claim 1,
The pair of locking portions include stepped portions that are introduced inwardly on opposite surfaces facing each other,
The unmanned flying device is a gripper for an unmanned flying device whose upper side is supported through the fixing part and the lower side is supported through the stepped part. The method of claim 4,
The gripper for an unmanned aerial vehicle further includes at least one support portion at which both ends are respectively fixed to the pair of lock portions, and the support portion is a gripper for an unmanned aerial vehicle supporting the lower surface of the unmanned aerial vehicle together with the stepped portion. According to claim 1,
The fixing part is a gripper for an unmanned flying device that is fixed to the unmanned flying device through a fastening member. According to claim 1,
The body portion further includes at least one spring member having a predetermined length,
The spring member has one end fixed to the fixing portion and the other end fixed to the rotating portion. As a gripper combined with an unmanned flying device,
A body part including a fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and a pair of rotating parts, each of which is rotatably connected to the fixed part;
A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released;
A pair of driving units which are respectively connected to each other via the pair of rotation units and link units, and are reciprocating and linearly connected to the rotation of the rotation units; And
It includes; a pair of locking portions having a receiving arrangement space for accommodating a part of the driving portion, and allowing or restraining a reciprocating linear motion of the driving portion;
The gripper is a gripper for an unmanned flying device detachably coupled to the rotating part. As a gripper combined with an unmanned flying device,
A body part including a fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and a pair of rotating parts, each of which is rotatably connected to the fixed part;
A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released;
A pair of driving units which are respectively connected to each other via the pair of rotation units and link units, and are reciprocating and linearly connected to the rotation of the rotation units; And
It includes; a pair of locking portions having a receiving arrangement space for accommodating a part of the driving portion, and allowing or restraining a reciprocating linear motion of the driving portion;
A gripper for an unmanned flying device including a spring member having one end of which is in contact with the driving part and presses the driving part in one direction. As a gripper combined with an unmanned flying device,
A body part including a fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and a pair of rotating parts, each of which is rotatably connected to the fixed part;
A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released;
A pair of driving units which are respectively connected to each other via the pair of rotation units and link units, and are reciprocating and linearly connected to the rotation of the rotation units; And
It includes; a pair of locking portions having a receiving arrangement space for accommodating a part of the driving portion, and allowing or restraining a reciprocating linear motion of the driving portion;
The driving unit,
The rod portion is hingedly connected to the link portion, a movable body provided with at least one first wing portion slidably coupled along the rod portion and protruding outward along a circumferential surface, and rotatably coupled to the rod portion and the It is disposed on the lower portion of the moving body and includes a rotating body provided with at least one second wing portion protruding outward along the circumferential surface,
The driving unit is a gripper for an unmanned flying device in which linear motion is allowed or restricted through a position change of the second wing when the rotating body is rotated. The method of claim 10,
The lock portion,
A hollow first holder having a guide groove formed along a longitudinal direction on the inner surface, and a second holder of a hollow type which is coupled to the first holder and is disposed with a spring member for pressing the end portion of the rotating body in one direction,
When the second wing portion of the rotating body is located in the guide groove, linear movement of the driving unit is allowed, and when the second wing portion of the rotating body deviates from the lower side of the guide groove, the linear movement of the driving unit is restrained. Gripper for flight devices. The method of claim 11,
The drive unit includes a stopper coupled to an end of the rod portion, and the stopper is provided with a diameter smaller than the inner diameter of the spring member, so that the gripper for an unmanned flying device inserted into the end side of the spring member. The method of claim 11,
The first holder includes at least two protrusions protruding from the inner surface,
The guide groove is formed between two adjacent protrusions,
The driving unit is a gripper for an unmanned flying device in which the linear movement of the driving unit is restrained when the second wing of the rotating body moves out of the guide groove and moves to the lower side of the projecting unit. The method of claim 13,
The protrusion is connected to the guide groove on the lower side and a gripper for an unmanned flight apparatus including an incision formed inwardly. The method of claim 14,
A gripper for an unmanned aerial vehicle in which one surface of the incision part and the upper surface of the second wing part that are in contact with each other are formed with inclined surfaces having the same inclination to each other. The method of claim 10,
The rod portion includes a first portion hingedly connected to the link portion and a second portion extending from an end portion of the first portion,
The first portion is formed to have a relatively larger diameter than the second portion,
A gripper for an unmanned aerial vehicle in which a lower surface of the first portion pressurizes the moving body when the driving portion moves vertically downward. The method of claim 16,
The mobile body is formed in a sawtooth shape in which the lower end is formed alternately with the valley and the mountain,
The lower end of the moving body is a gripper for an unmanned flying device that provides a pressing force for rotating the rotating body so that the second wing portion of the rotating body can be separated from the guide groove formed in the locking portion. The method of claim 11,
The locking portion includes a cap portion coupled to the second holder so as to seal the opened lower portion of the second holder,
The cap portion is a gripper for an unmanned flying device in which a groove portion into which one end of the spring member is inserted is formed to prevent the position of the spring member from being changed. As a gripper combined with an unmanned flying device,
A body part including a fixing part for fixing the unmanned flying device through contact or coupling with the unmanned flying device, and a pair of rotating parts, each of which is rotatably connected to the fixed part;
A pair of gripping portions each extending from the pair of rotating portions and gripping a structure through rotation of the pair of rotating portions or a state in which the structure is held is released;
It includes a rotating body provided with at least one wing portion protruding outwardly along the circumferential surface, each of which is linked by a pair of the rotating portion and the link portion, as long as it reciprocates linearly in connection with the rotation of the rotating portion. A pair of driving units;
A locking unit having an accommodation arrangement space accommodating a portion of the driving unit and allowing or restraining a reciprocating linear motion of the driving unit through rotation of the rotating body; And
It includes; a spring member disposed at the lock part so that one end may contact the driving part and press the driving part in one direction.
The unmanned flying device is a gripper for an unmanned flying device which is disposed on a side of an arrangement space formed between the fixing part and a pair of locking parts.

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