The invention provides a leg claw mechanism and a bionic mechanical leg claw device based on a four-rotor unmanned aerial vehicle. The leg claw mechanism comprises a first base body with a first mounting surface and a second mounting surface; the leg claw body comprises a thigh assembly rotationally connected to the first mounting surface, a shank assembly connected with the thigh assembly and a grabbing and releasing assembly connected with the shank assembly; the energy storage assembly comprises a first connecting shaft, a first gear, a winch part and a first driving assembly for driving the first gear to rotate; an energy storage part is further arranged between the first gear and the second mounting surface, and when the first driving assembly drives the first gear to rotate in the first rotating direction, the energy storage part is used for storing energy; the first limiting assembly limits the first gear to rotate in the second rotating direction; the two ends of the first connecting assembly are connected with the first limiting assembly and the grabbing and releasing assembly. According to the scheme, by arranging the energy storage assembly, when the mechanism makes contact with a target object, the grabbing action of the grabbing and releasing assembly can be triggered by means of the impact force of the mechanism, and electricity consumption is reduced.

    本申请提供一种腿爪机构及基于四旋翼无人机的仿生机械腿爪装置,其中腿爪机构包括具有第一安装面和第二安装面的第一基座本体;腿爪本体包括可转动连接于第一安装面的大腿组件、与大腿组件连接的小腿组件以及与小腿组件连接的抓放组件;储能组件包括第一连接轴、第一齿轮、绞盘部件以及驱动第一齿轮转动的第一驱动组件;第一齿轮与第二安装面之间还设有储能部,第一驱动组件驱动第一齿轮沿第一旋转方向转动时,储能部用于蓄能;第一限位组件限制第一齿轮沿第二旋转方向转动;第一连接组件两端与第一限位组件和抓放组件连接;本方案通过设置储能组件使该机构接触到目标物体时,依靠自身的冲击力即可触发抓放组件的抓取动作,降低了电量消耗。


    Access

    Download


    Export, share and cite



    Title :

    Leg claw mechanism and bionic mechanical leg claw device based on four-rotor unmanned aerial vehicle


    Additional title:

    一种腿爪机构及基于四旋翼无人机的仿生机械腿爪装置


    Contributors:
    LIU XUAN (author) / XIANG RUZHI (author) / WANG CHANG (author) / ZHANG JIANHUA (author) / LI KEXIANG (author)

    Publication date :

    2023-07-28


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / B64C AEROPLANES , Flugzeuge



    Unmanned aerial vehicle inhabiting bionic claw device

    CHENG YUXIN / CHEN XIAOLAN / YAN RUYU et al. | European Patent Office | 2023

    Free access

    Quad-rotor unmanned aerial vehicle-based bionic leg claw device capable of rapidly inhabiting and grabbing

    ZHANG JIANHUA / WANG CHANG / ZHAO YAN et al. | European Patent Office | 2023

    Free access

    Perching positioning claw of unmanned aerial vehicle and unmanned aerial vehicle

    CHEN BINGJI / ZOU MUTONG / ZHAO FEI et al. | European Patent Office | 2023

    Free access

    Amphibious vehicle mechanical claw device

    YUAN GUANGMING / HAN YU / JIAO XIAOGANG et al. | European Patent Office | 2021

    Free access

    Bionic claw thorn foot with endoskeleton constraint

    LIU YANWEI / ZHOU QIANG / WANG HAO et al. | European Patent Office | 2022

    Free access