KR20200005286A - Gripper for unmanned aerial vehicle - Google Patents

Abstract

Provided is a gripper for an unmanned aerial vehicle. According to one embodiment of the present invention, the gripper for an unmanned aerial vehicle, which is coupled to an unmanned aerial vehicle, includes: a body unit having a pair of fixing parts and a pair of rotating parts of which one end is individually rotationally connected to the pair of fixing parts; a pair of grasping units respectively extended from the pair of rotating parts and grasping a structure through rotation of the pair of rotating units or allowing a state of grasping the structure to be released; a pair of driving units respectively link-connected to the pair of rotating parts by a medium of a link part and interlocked with rotation of the rotating part to reciprocate; and a pair of locking units having a receiving arrangement space individually receiving a part of the driving units and allowing or restricting reciprocating movement of the driving units.

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 vehicle for exploration and reconnaissance is being actively conducted. The development of such an unmanned aerial vehicle has the advantage of enabling dangerous or difficult tasks to be performed by humans.

Such unmanned flying devices are widely used for various purposes in daily life.

In other words, the unmanned aerial vehicle is equipped with electronic equipment including a camera unit, a sensor module, a communication module, and the like, and when the operator remotely controls the operator or preprograms the points where the unmanned aerial vehicle must pass, the unmanned aerial vehicle is equipped with a vehicle. They also fly by adjusting their own flight trajectory to reach the point.

Such a drone has a short flight time because the battery is consumed very quickly. In particular, when the unmanned aerial vehicle floats in one place during a flight, there is a problem in that the battery is unnecessarily consumed to keep it in place.

The present invention has been made in view of the above, and an object thereof is to provide a gripper for an unmanned aerial vehicle which can prevent the battery of the unmanned aerial vehicle from being consumed unnecessarily.

According to an aspect of the present invention, a gripper coupled to an unmanned aerial vehicle, the fixing unit for fixing the unmanned aerial vehicle through contact or coupling with the unmanned aerial vehicle, and one end is rotatably connected to the fixing unit, respectively. A body part including a pair of rotation parts; A pair of gripping portions extending from the pair of pivoting portions, respectively, for holding a structure or releasing the structure through the rotation of the pair of pivoting portions; A pair of driving units each connected to each other via the pair of pivoting portions and the linking portion, and reciprocating linearly in association with the rotation of the pivoting portion; And a pair of locking portions having accommodation arrangement spaces respectively accommodating a portion of the driving portion to allow or restrain the reciprocating linear motion of the driving portion.

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

In one embodiment, the unmanned aerial vehicle may be disposed on the side of the arrangement space formed between the fixing portion and the pair of locking portions.

For example, the pair of locking portions may include a stepped portion introduced inward on opposing surfaces facing each other, and the unmanned flying apparatus may be supported by the upper side through the fixing portion and by the lower side through the stepping portion. Can be.

In this case, the gripper for the unmanned aerial vehicle may further include at least one support portion whose both ends are fixed to the pair of locking portions, and the support 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 to 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, the spring member may be fixed to one end of the fixed portion and the other end is fixed to the pivoting portion.

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

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

In one embodiment, the driving unit, a rod portion hinged to the link portion, the movable body is provided with at least one first wing coupled to the sliding movement along the rod portion and protrudes outward along the circumferential surface and the The rotor may be rotatably coupled to the rod and disposed at a lower portion of the movable body and provided with at least one second wing portion protruding outwardly along a circumferential surface. Linear motion may be allowed or constrained by changing the position of the second blade.

At this time, the locking portion, the hollow first holder having a guide groove formed in the longitudinal direction on the inner surface, the hollow member is coupled to the first holder and the spring member for pressing the end of the rotating body in one direction It may include a two holder, when the second blade portion of the rotating body is located in the guide groove can be linear movement of the drive unit, the second blade portion of the rotating body is beyond 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 the end of the rod, the stopper is provided so that the outer diameter is smaller than the inner diameter of the spring member may be inserted into the end side of the spring member.

The first holder may include at least two protrusions protruding from an inner surface of the first holder, the guide groove may be formed between two protrusions adjacent to each other, and the driving part may include a second wing of the rotor. When moving out of the guide groove toward the lower side of the protruding portion, linear movement of the driving unit may be restricted.

At this time, the protrusion may be connected to the guide groove on the lower side and may include an incision formed inwardly.

In addition, one surface of the cutout and the upper surface of the second wing that are in contact with each other may be formed as an inclined surface having the same slope as each other.

In one embodiment, the rod portion may include a first portion hinged to the link portion and a second portion extending from an end of the first portion, the first portion being relatively more than the second portion. It may be formed to have a large diameter, the lower surface of the first portion may press the moving body when the vertical movement of the drive unit.

In one embodiment, the lower end of the movable body may be formed in a sawtooth shape formed by alternating valleys and peaks, the lower end of the movable body may be separated 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 for rotating the rotating body so that.

In one embodiment, the locking portion may include a cap portion coupled to the second holder to seal the open lower portion of the second holder, the cap portion may prevent the position of the spring member is changed. The groove may be formed so that one end of the spring member is inserted.

According to another aspect of the present invention, a gripper coupled to an unmanned aerial vehicle, the fixing unit for fixing the unmanned aerial vehicle through contact or coupling with the unmanned aerial vehicle, and one end is rotatably connected to the fixing unit, respectively. A body part including a pair of rotation parts; A pair of gripping portions extending from the pair of pivoting portions, respectively, for holding a structure or releasing the structure through the rotation of the pair of pivoting portions; And a rotating body which is connected to each of the pair of pivoting portions and the linking portion, and has at least one wing portion protruding outwardly along a circumferential surface thereof, as long as the reciprocating linear movement is linked with the rotation of the pivoting portion. A pair of drive units; A locking part having an accommodation space for accommodating a part of the driving part and allowing or restraining the reciprocating linear motion of the driving part through rotation of the rotating body; And a spring member disposed at the lock portion so that one end thereof is in contact with the drive portion to press the drive portion in one direction, and the unmanned aerial vehicle is disposed on the side of the arrangement space formed between the fixed portion and the pair of lock portions. A gripper for an unmanned aerial vehicle is provided.

According to the present invention, it is possible to reduce battery consumption by maintaining the unmanned aerial vehicle is suspended to the existing structure through the gripping portion during the flight. Through this, it is possible to increase the flight time of the unmanned aerial vehicle.

In addition, according to the present invention, the gripping portion is operated in a mechanical manner through a pivoting portion that is rotated in a link structure without an electronic component such as a motor or a circuit, so that the gripping portion may operate 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,
FIG. 2 is a view illustrating a state in which a part of the locking part is cut in FIG. 1;
3 is a view showing a state in which the grip unit rotated in FIG.
Figure 4 is a partial separation of the main components in Figure 1,
5 to 9 are views sequentially showing the operating relationship between the rotating part, the driving part and the locking part in the gripper for an unmanned aerial vehicle according to an embodiment of the present invention;
10 is a view showing a state in which an 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 may easily implement the present invention. As those skilled in the art would realize, the described embodiments may be modified in various different ways, all without departing from the spirit or scope of the present invention. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like elements throughout the specification.

In the present invention, the unmanned aerial vehicle may be a vehicle in which the pilot does not ride directly on the aircraft, the user remotely maneuver on the ground or autonomously fly in an automatic or semi-automatic manner according to a pre-programmed route. In addition, the unmanned aerial vehicle may be a vehicle equipped with artificial intelligence to perform a mission according to its own environmental judgment.

Such an unmanned aerial vehicle may be a rotary wing unmanned aerial vehicle, a fixed wing unmanned aerial vehicle, or a multicopter type aircraft having several propellers, depending on the type of flight. 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 the user's purpose of use.

The gripper 100 or 200 for an unmanned aerial vehicle according to an exemplary embodiment of the present invention may suspend the unmanned aerial vehicle 10 on a ceiling or a structure fixed to the air. Through this, the unmanned aerial vehicle 10 can reduce the battery consumption for maintaining posture or position by maintaining the suspended state on the side of the structure when staying in one place for a long time, even if no additional battery is installed You can increase your time.

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

To this end, the gripper 100,200 for an unmanned aerial vehicle according to an exemplary embodiment of the present invention may include a pair of first and second units corresponding to each other as shown in FIGS. 1 to 3 and 11. The gripper parts 120a and 120b provided in the first unit and the second unit respectively move closer to or away from each other through rotation, so that the state of holding the structure or holding the structure may be released. Each of the first unit and the second unit may have a separate configuration, or at least a portion thereof may be connected to each other.

The first unit and the second unit may include a body part 110, a grip part 120a and 120b, a driving part 130a and 130b, and a locking part 140a and 140b.

The body portion 110 may be fixed to the unmanned flying apparatus 10 by being in contact with or coupled to the unmanned flying apparatus 10 that is a fixed object, and the holding portions 120a and 120b hold the structure. The holding parts 120a and 120b may be rotated to be separated from the structure.

To this end, the body portion 110 has a fixing portion (111a, 111b) for fixing the unmanned flying device 10 and the rotating portion (112a, 112b) rotatably connected to the fixing portion (111a, 111b). It may include.

That is, the fixing portions 111a and 111b are disposed on the unmanned flying apparatus 10 or coupled to the unmanned flying apparatus 10 and the fastening member 170 as shown in FIGS. 10 and 12. By doing so, the unmanned aerial vehicle 10 may be fixed. Here, some of the fixing parts 111a and 111b may be inserted into the unmanned flying apparatus 10 to fix the unmanned flying apparatus 10.

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 thereof may be connected to the holding parts 120a and 120b.

Accordingly, the gripper (100,200) for the unmanned flying device according to an embodiment of the present invention the rotatable parts (112a, 112b) in the fixed state (111a, 111b) in the state of fixing the unmanned flying device (10) When rotating about the hinge shafts H1 and H2 with respect to the government parts 111a and 111b, the structure is moved by the closer or away from the gripper 120a of the first unit and the gripper 120b of the second unit. It can be grasped or separated from the structure.

In this case, the holding parts 120a and 120b may be detachably coupled to the pivoting parts 112a and 112b. Accordingly, the gripping parts 120a and 120b may be easily separated or fastened with the pivoting parts 112a and 112b. By doing so, the gripper 100 or 200 for an unmanned aerial vehicle according to an embodiment of the present invention moves the gripping portions 120a and 120b from the pivoting portions 112a and 112b when the grippers 120a and 120b need replacement. By separating, it can be easily replaced with other holding parts 120a and 120b.

In the drawing, the length of a part of the overall length is bent as the grip parts 120a and 120b so that when the grip part 120a of the first unit and the grip part 120b of the second unit come closer, Although shown in the form that can be caught in the structure is not limited to the shape of the gripping portion (120a, 120b) to this, if the shape that can easily grip the structure can be appropriately changed.

For this reason, the gripper 100 or 200 for the unmanned aerial vehicle according to the exemplary embodiment of the present invention may be replaced with a gripper 120a or 120b having an appropriate shape according to the shape of the structure to be gripped, thereby increasing convenience of use.

The rotation parts 112a and 112b may be connected to the driving parts 130a and 130b via a link part 113 having a predetermined length. That is, the link portion 113 may have a bar shape having a predetermined length, and one end may be hinged to the pivoting portions 112a and 112b and the other end may be hinged to one side of the driving portions 130a and 130b. have.

Accordingly, the rotating parts 112a and 112b may be linked with the movement of the driving parts 130a and 130b, and the movement of the driving parts 130a and 130b, for example, when the driving parts 130a and 130b move linearly. It may be rotated about the hinge axes H1 and H2. As a result, the holding unit 120a of the first unit and the holding unit 120b of the second unit are close to each other through the rotation of the rotating units 112a and 112b linked to the movement of the driving units 130a and 130b. By losing or moving away, the structure can be gripped or separated from the structure.

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

In this case, the holding part 120a of the first unit and the holding part 120b of the second unit may be formed with a stepped part 144 which is drawn inward on the opposite surface facing each other. The unmanned aerial vehicle 10 disposed at (S) may be supported by a lower side through the stepped portion 144.

At this time, the gripper (100,200) for the unmanned flying device according to an embodiment of the present invention can prevent the unmanned flying device 10 is separated from the arrangement space (S) to be separated from the gripper (100,200) for the 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 in the upper portion of the unmanned aerial vehicle 10, as shown in FIG. It may include a support 160 for connecting the locking portion 140a of the first unit and the locking portion 140b of the second unit.

In this case, both ends of the support part 160 may be fixed to the locking part 140a of the first unit and the locking part 140b of the second unit, respectively, and have the same height as the stepped part 144. Can be arranged.

Accordingly, the unmanned flying apparatus 10 disposed in the arrangement space S may have an upper side supported by the fixing portions 111a and 111b, and a lower side thereof with the stepped portion 144 and the support portion 160. By being supported through, it can be prevented from being separated from the arrangement space (S).

As another example, in the gripper 200 for an unmanned aerial vehicle according to an embodiment of the present invention, as shown in FIGS. 11 and 12, the fixing parts 111a and 111b are operated by the fastening member 170. Can be coupled directly to the device 10.

Accordingly, the unmanned flying apparatus 10 disposed in the placement space S may be directly fixed to the upper side through the fixing portions 111a and 111b and the fastening member 170, and the lower side may be the stepped portion. Supported through the 144 may be prevented from being separated from the arrangement space (S).

As described above, the driving units 130a and 130b may be linked with the rotation parts 112a and 112b through the link part 113 to be linked with the movement of the rotation parts 112a and 112b. The reciprocating linear movement may be performed according to the rotation directions of the rotation parts 112a and 112b.

For example, when the rotating parts 112a and 112b are rotated so that the holding part 120a of the first unit and the holding part 120b of the second unit are far from each other, the driving parts 130a and 130b are vertically downward. You can move straight. In addition, when the rotation parts 112a and 112b are rotated to bring the grip part 120a of the first unit and the grip part 120b of the second unit closer to each other, the driving parts 130a and 130b are vertically upward. You can move straight.

At this time, the driving unit (130a, 130b) that is linked to the movement of the rotating unit (112a, 112b) can be reciprocated linearly moved inside the locking unit (140a, 140b), through the locking unit (140a, 140b) Reciprocating linear movement can be allowed or constrained.

Through this, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention has the gripper of the first unit when the driving units 130a and 130b are linearly constrained through the locking units 140a and 140b. 120a) and the gripping portion 120b of the second unit may be separated from the structure by keeping the state away from each other, and the driving portions 130a and 130b are allowed to move linearly through the locking portions 140a and 140b. The structure may be gripped by maintaining a state in which the grip portion 120a of the first unit and the grip portion 120b of the second unit are close to each other.

Accordingly, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention is suspended by the gripping parts 120a and 120b when the unmanned aerial vehicle 10 needs to stay in one place for a long time. This allows you to maintain the same posture or position without draining the battery.

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

In addition, as shown in FIG. 4, the locking parts 140a and 140b include a hollow first holder 141 having a guide groove 141a formed in an inner surface thereof in a longitudinal direction, and the first holder 141. It may include a hollow second holder 142 to be coupled, the spring member 150 may be disposed inside the second holder 142. Here, the spring member 150 may be a compression spring provided with an elastic force through compression at the time of external force.

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

In addition, the locking parts 140a and 140b may include a cap part 143 coupled to the second holder so as to seal the open lower portion of the second holder 142, and the cap part 143 may be A groove portion 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, one end of the spring member 150 disposed in the second holder 142 is supported by the cap 143 and the other end is in close contact with the end of the rotating body 133 so that the rotating member 133 ) Can be pressed in one direction.

Through this, the driving units 130a and 130b may be allowed or constrained linearly by changing the position of the second wing 133a by the rotation of the rotating body 133.

That is, the gripper (100,200) for the unmanned aerial vehicle according to an embodiment of the present invention when the second blade portion 133a of the rotating body is located in the guide groove (141a) as shown in Figs. Linear movement of the driving units 130a and 130b may be allowed, and linear movement of the driving units 130a and 130b when the second wing 133a of the rotating body is out of the lower side of the guide groove 141a. This can be restrained.

Meanwhile, a stopper 134 may be coupled to an end portion of the rod part 131, and the stopper 134 may be located below the rotating body 133. Accordingly, the movable 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 movable body 132 and the rotating body ( 133 may be prevented from being separated from the rod 131.

In this case, as shown in FIG. 2, the stopper 134 may have a smaller outer diameter than the inner diameter of the spring member 150. Accordingly, when the spring member 150 is disposed inside the second holder 142, one end of the spring member 150 that is in close contact with the end of the rotating body 133 may be disposed to surround the stopper 134.

As a result, the spring member 150 disposed inside the second holder 142 may be fixed at one end thereof through a groove 143a formed at the cap 143, and the other end thereof may be fixed at the stopper 134. The position can be fixed through.

Therefore, the spring member 150 may smoothly press the rotating body 133 in one direction without being interfered with by the stopper 134 when the driving units 130a and 130b move linearly.

In addition, one side of the locking parts 140a and 140b may be fixed to the body part 110 side. Accordingly, the locking parts 140a and 140b may be smoothly reciprocated linearly moving along the guide grooves 141a in the locking parts 140a and 140b.

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

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

Thus, when the first wing portion 132a of the movable 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 movable body and the first of the rotating body The two wing portions 133a may be freely moved vertically upward or vertically downward along the guide groove 141a, and the movable body 132 and the rotating body 133 are restricted from rotation through the guide groove 141a. Can be.

In this case, the rod 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 when the movable body 132 is rotatably coupled to the rod 131, when the rod 131 moves vertically downward by an external force, the first portion 131a has a lower surface thereof. The mobile body 132 may be pressurized by being in contact with the upper surface of the 132.

Accordingly, the movable body 132 and the rotating body 133 may be linearly moved downwardly along the guide groove 141a by the pressing force provided through the first portion 131a of the rod part.

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

Accordingly, when the external force applied to the rod part 131 side is removed, the spring member 150 pushes the rotating body 133 upward by using the stored elastic force, thereby moving the body 132 and the rod part. 131 may move linearly upwards.

In this case, the lower portion of the protrusion 141b may be formed to cut inwardly in the inward direction, 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 protrusion (141b) from the guide groove (141a) after the second blade portion 133a of the rotating body moves vertically downward along the guide groove (141a) When moving toward the cutout 141c formed on the side, the vertical upward movement of the driving units 130a and 130b may be restricted.

Accordingly, the spring member 150 compressed by the pressing force applied during the vertical downward movement of the driving units 130a and 130b is cut even when the external force applied to the rod unit 131 is removed. The vertical upward movement is constrained through the portion 141c to maintain a compressed state. When the second blade portion 133a moves from the cutout portion 141c to the guide groove 141a side, it is stored through the stored elastic force. A pressing force capable of moving the driving units 130a and 130b vertically upward may be provided.

At this time, the rotating body 133 may be moved from the guide groove 141a to the cutout 141c side or the cutout 141c to the guide groove 141a side through rotation. Can be.

To this end, the movable body 132 may have a sawtooth shape in which the lower end is alternately formed with the valley and the peak as shown in FIG. 4, and the one surface and the second wing of the cutout 141c contacting each other. The upper surface may be formed as an inclined surface having the same inclination with each other.

Accordingly, when the driving unit (130a, 130b) is moved vertically downward so that the second wing portion 133a of the rotor deviates from the lower side of the guide groove (141a), the rotor (133) is the movable body ( 132 may be rotated through the sawtooth structure formed at the lower end.

That is, when the upper surface of the second blade portion 133a is provided with a pressing force for pressing the second blade portion 133a vertically downward in a state where the lower end of the movable body 132 is in close contact with the second blade portion 133a. The upper surface of the 133a may slide along the valleys or hills formed at the lower end of the movable body 132, such that the rotor 133 may be rotated.

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

Meanwhile, the gripper 100 or 200 for an unmanned aerial vehicle 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 in a state where the second blade portion 133a of the rotating body 133 is located at the cutout portion 141c, and thus the driving portions 130a and 130b. When the vertically moving upward, the driving unit (130a, 130b) can provide a restoring force that can move vertically upward quickly.

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

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

Accordingly, when the pivoting portions 112a and 112b are rotated such that the grip portion 120a of the first unit and the grip portion 120b of the second unit are far from each other, the spring member 114 may increase in overall length. 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 contacting the pivoting portions 112a and 112b.

In this state, when the pivoting portions 112a and 112b are rotated such that the grip portion 120a of the first unit and the grip portion 120b of the second unit are close to each other, the spring member 114 is provided. The gripping portion 120a of the first unit and the gripping portion 120b of the second unit may quickly approach each other by the elastic force.

By doing so, the gripper 120a of the first unit and the gripper 120b of the second unit are changed to grip the structure 20 fixed to the ceiling or the air of the building. It can be gripped quickly.

In the present invention, the external force applied to the rod unit 131 is moved upward when the unmanned flying apparatus 10 is mounted on the gripper (100,200) for the unmanned flying apparatus according to an embodiment of the present invention, the The holding parts 120a and 120b may be the pressing force generated when the holding parts 120a and 120b hit the ceiling or the structure side of the building.

Accordingly, the gripper 100, 200 for an unmanned aerial vehicle according to an exemplary embodiment of the present invention intends to suspend the unmanned aerial vehicle 10 on a ceiling or in a structure fixed to the air. By raising the end of the grip portion (120a, 120b) may hit the ceiling or structure of the building.

Through this, the gripper (100,200) for the unmanned aerial vehicle according to an embodiment of the present invention may be provided with an external force for pressing the holding portion (120a, 120b) downward, the wave of the first unit through the above process The branch portion 120a and the grip portion 120b of the second unit may be far from or close to each other.

For this reason, the unmanned flying device 10 equipped with the unmanned flying device grippers 100 and 200 according to one embodiment of the present invention is suspended from the ceiling or the structure 20 fixed to the air or separated from the structure 20. Free flight may then be possible.

Specifically, as shown in FIGS. 5 and 9, when the gripping portion 120a of the first unit and the gripping portion 120b of the second unit are close to each other, the unmanned flying apparatus 10 By raising the altitude, the ends of the gripping parts 120a and 120b may hit the ceiling or the structure of the building. Through this, the gripper 100,200 for an unmanned aerial vehicle according to an embodiment of the present invention moves vertically downward and rotates 112a of the driving units 130a and 130b in the first state as shown in FIGS. 5 to 7. Through the rotation of 112b, the gripping portion 120a of the first unit and the gripping portion 120b of the second unit may be changed to a second state away from each other.

In this case, as shown in FIG. 7, the second blade portion 133a of the rotating body 133 is moved toward the cutout portion 141c, so that the movable body 132 and the rotating body 133 may be moved. Vertical upward movement may be constrained.

In this state, the unmanned flying device 10 equipped with the unmanned flying device grippers 100 and 200 according to an embodiment of the present invention is the structure 20 through the flight holding portion 120a of the first unit and After changing the position so as to be located between the holding portions 120b of the second unit, the ends of the holding portions 120a and 120b may hit the ceiling or the structure of the building again by changing the altitude.

Thus, the gripper 100,200 for the unmanned aerial vehicle according to the exemplary 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 apparatus 10 may be suspended from the structure 20 through the branch portion 120a and the grip portion 120b of the second unit.

Then, when the unmanned aerial vehicle 10 is to be separated from the structure 20 by raising the altitude of the unmanned aerial vehicle 10 by hitting the ends of the gripping portions 120a and 120b against the ceiling or the structure of the building. The pressing force may be provided to the gripping parts 120a and 120b.

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

Accordingly, the gripper 100 and 200 for the unmanned airfield according to an embodiment of the present invention can reduce battery consumption by maintaining the unmanned aerial vehicle suspended in an existing structure through the gripper during flight. Through this, it is possible to increase the flight time of the unmanned aerial vehicle.

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

In the above description, the unmanned flying apparatus 10 is freed by sequentially changing the gripper 100,200 for the unmanned flying apparatus according to an embodiment of the present invention into a first state-second state-first state-second state. Although described as being changed to the state of flight and the state suspended on the structure 20, but is not limited thereto, the second state-first state when the gripper 100,200 for the unmanned aerial vehicle according to an embodiment of the present invention is the second state By sequentially changing to the second state, it is noted that the unmanned aerial vehicle 10 can be changed into a free flight state and a state suspended on the structure 20.

Although one embodiment of the present invention has been described above, the spirit of the present invention is not limited to the embodiments set forth herein, and those skilled in the art who understand the spirit of the present invention, within the scope of the same idea, the addition of components Other embodiments may be easily proposed by changing, deleting, adding, and the like, but this will also fall within the spirit of the present invention.

100,200: Gripper 110 for unmanned aerial vehicle: body part
111a, 111b: fixed part 112a, 112b: rotating part
113: link portion 114: spring member
115: coupling groove 116: coupling hole
120a, 120b: grip part 130a, 130b: drive part
131: rod portion 131a: first portion
131b: second part 132: moving object
132a: first wing portion 133: a rotating body
133a: second wing portion 134: stopper
140a, 140b: locking portion 141: first holder
141a: guide groove 141b: protrusion
141c: incision 142: second holder
143: cap portion 143a: groove portion
144: step 150: spring member
160: support 170: fastening member

Claims (19)

As a gripper combined with a drone,
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 whose one end is rotatably connected to the fixing part;
A pair of gripping portions extending from the pair of pivoting portions, respectively, for holding a structure or releasing the structure through the rotation of the pair of pivoting portions;
A pair of driving units each connected to each other via the pair of pivoting portions and the linking portion, and reciprocating linearly in association with the rotation of the pivoting portion; And
And a pair of locking portions having accommodation arrangement spaces respectively accommodating a portion of the driving portion to allow or restrain the reciprocating linear motion of the driving portion. The method of claim 1,
And one end of the link portion is hinged to the pivot portion and the other end is hinged to the driving portion. The method of claim 1,
The unmanned flying device gripper for an unmanned flying device is disposed on the side of the placement space formed between the fixing portion and the pair of locking portions. The method of claim 3, wherein
The pair of locking portions includes a stepped portion introduced inward on opposing surfaces facing each other,
The drone gripper for an unmanned flying device, the upper side is supported through the fixing portion and the lower side is supported through the stepped portion. The method of claim 4, wherein
The gripper for the unmanned aerial vehicle further includes at least one support portion whose both ends are fixed to the pair of locking portions, and the support portion supports the lower surface of the unmanned aerial vehicle with the stepped portion. The method of claim 3, wherein
The fixing unit gripper for the unmanned aerial vehicle is fixed to the side of the unmanned aerial vehicle via a fastening member. The method of claim 1,
The body portion further includes at least one spring member having a predetermined length,
The spring member has a gripper for an unmanned flying device, one end of which is fixed to the fixing part and the other end of which is fixed to the pivoting part. The method of claim 1,
The gripping portion gripper for an unmanned flying device detachably coupled to the pivoting portion. The method of claim 1,
One end of the locking portion gripper for an unmanned flying device including a spring member which is in contact with the driving portion to press the driving portion in one direction. The method of claim 1,
The driving unit,
A rod unit hinged to the link unit, a movable body including a rod coupled to the rod unit and at least one first wing unit protruding outwardly along a circumferential surface and rotatably coupled to the rod unit It is disposed on the lower portion of the moving body includes a rotating body having at least one second wing protruding outward along the circumferential surface,
The driving unit gripper for the unmanned flying device is allowed or constrained linear movement by changing the position of the second blade portion when the rotation of the rotating body. The method of claim 10,
The locking portion,
A hollow first holder having a guide groove formed in a longitudinal direction on an inner surface thereof, and a hollow second holder disposed with a spring member coupled to the first holder and pressing an end portion of the rotating body in one direction;
If the second blade portion of the rotating body is located in the guide groove linear movement of the drive is allowed, if the second blade portion of the rotating body out of the lower side of the guide groove unmanned movement is restrained Flight gripper. The method of claim 11,
The driving unit includes a stopper coupled to the end of the rod, the stopper is provided so that the outer diameter is relatively smaller than the inner diameter of the spring member is inserted into the end side of the spring member gripper. 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 protrusions adjacent to each other,
The driving unit gripper for the unmanned flying device that the linear movement of the driving unit is constrained when the second blade portion of the rotating body moves out of the guide groove to the lower side of the protrusion. The method of claim 13,
The protrusion is connected to the guide groove on the lower side gripper for an unmanned flying device including an incision formed in the incision. The method of claim 14,
One surface of the incision portion and the upper surface of the second wing portion which is in contact with each other is formed as an inclined surface having the same inclination with each other. The method of claim 10,
The rod portion includes a first portion hinged to the link portion and a second portion extending from an end of the first portion,
The first portion is formed to have a relatively larger diameter than the second portion,
And a lower surface of the first portion pressurizes the moving body when the driving unit moves vertically downward. The method of claim 16,
The movable body has a sawtooth shape in which the lower end is alternately formed with the valley and the peak,
And a lower end of the movable body provides a pressing force for rotating the rotating body so that the second blade portion of the rotating body can be separated from the guide groove formed in the locking part. The method of claim 11,
The locking unit includes a cap unit coupled to the second holder to seal the open lower portion of the second holder,
The cap unit is an unmanned flying apparatus is formed with a groove portion is inserted one end of the spring member to prevent the position of the spring member is changed. As a gripper combined with a drone,
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 whose one end is rotatably connected to the fixing part;
A pair of gripping portions extending from the pair of pivoting portions, respectively, for holding a structure or releasing the structure through the rotation of the pair of pivoting portions;
And a rotating body which is connected to each of the pair of pivoting portions and the linking portion, and has at least one wing portion protruding outwardly along a circumferential surface thereof, as long as the reciprocating linear movement is linked with the rotation of the pivoting portion. A pair of drive units;
A locking part having an accommodation space for accommodating a part of the driving part and allowing or restraining the reciprocating linear motion of the driving part through rotation of the rotating body; And
And a spring member disposed at the locking part so that one end thereof is in contact with the driving part to press the driving part in one direction.
The unmanned flying device gripper for an unmanned flying device is disposed on the side of the placement space formed between the fixing portion and the pair of locking portions.

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