The invention discloses an unmanned aerial vehicle manipulator. The unmanned aerial vehicle manipulator comprises a multi-rotor unmanned aerial vehicle and a gripper mechanism located below the multi-rotor unmanned aerial vehicle. A support for fixing the gripper mechanism is arranged at the bottom of the multi-rotor unmanned aerial vehicle; the gripper mechanism comprises a first arc-shaped arm and a second arc-shaped arm which are concentrically arranged; the support is provided with a motor for driving the first arc-shaped arm to rotate relative to the second arc-shaped arm; the center of the first arc-shaped arm is rotatably connected with the center of the second arc-shaped arm; a left gripper and a right gripper are also included; each of the left gripper and the right gripper comprises at least one cross arm; and a ball-cage-shaped containing space is formed when the first arc-shaped arm and the second arc-shaped arm rotate relatively, a left cutting edge is arranged at the lower end of the left gripper, a right cutting edge is arranged at the lower end of the right gripper, and when the lower end of the left gripper and the lower end of the right gripper move downwards, theleft cutting edge and the right cutting edge get close relatively to carry out shearing. According to the unmanned aerial vehicle manipulator, a positioning requirement for target melons and fruits is lowered, fruit stems can be cut off after grabbing, and picking convenience is improved.
本发明公开了一种无人机机械手,包括多旋翼无人机以及位于多旋翼无人机下方的抓手机构,多旋翼无人机底部设有固定抓手机构的支座,抓手机构包括同心布置的第一弧形臂和第二弧形臂,支座设有带动第一弧形臂相对第二弧形臂转动的电机,第一弧形臂的中心和第二弧形臂的中心转动连接,还包括左抓手和右抓手,左抓手和右抓手均包括至少一个交叉臂,第一弧形臂和第二弧形臂相对转动时形成球笼状的容纳空间,左抓手下端设有左切割刃,右抓手下端设有右切割刃,左抓手下端和右抓手下端向下运动时所述左切割刃和右切割刃相对靠近进行剪切。本发明旨在提供了一种无人机机械手,降低对于目标瓜果的定位要求,并且可在抓取后切断果梗,提高摘取便利性。
Unmanned aerial vehicle manipulator
一种无人机机械手
2020-10-30
Patent
Electronic Resource
Chinese
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