The invention belongs to the technical field of unmanned aerial vehicles, and discloses an unmanned aerial vehicle rotary gripper mechanism and a control method.The unmanned aerial vehicle rotary gripper mechanism comprises an unmanned aerial vehicle framework, an oval sliding groove, a rotary platform and a grabbing mechanism, the oval sliding groove is fixedly connected with the unmanned aerial vehicle framework, and the rotary platform is coaxially arranged in the oval sliding groove; the rotating platform is fixed to the unmanned aerial vehicle framework and rotationally connected with the unmanned aerial vehicle framework through a thrust ball bearing, the rotating platform can rotate relative to the unmanned aerial vehicle framework, the grabbing mechanism is fixed to the rotating platform and the oval sliding groove and slidably connected with the oval sliding groove, and the grabbing mechanism can rotate along with the rotating platform and slide in the oval sliding groove. Length difference exists between the long half shaft and the short half shaft of the ellipse and the rotary platform, and the grabbing mechanism drives the tail end to be closed through the length difference to complete object grabbing and inhabiting. The problem that grabbing can be achieved only by introducing a complex mechanical structure and increasing the number of motors in an unmanned aerial vehicle grabbing hand is solved. And the energy consumption of the unmanned aerial vehicle is reduced.

    本发明属于无人机技术领域,公开了一种无人机回转抓手机构及控制方法,包括无人机骨架、椭圆滑槽、回转平台和抓取机构,所述椭圆滑槽与无人机骨架固定连接,所述回转平台同轴设置在椭圆滑槽内,并通过推力球轴承与无人机骨架转动连接,所述回转平台可相对无人机骨架旋转,所述抓取机构固定在回转平台和椭圆滑槽上,与椭圆滑槽滑动连接,所述抓取机构可随着回转平台旋转并在椭圆滑槽内滑动,椭圆的长半轴与短半轴与回转平台之间具有长度差,所述抓取机构通过这个长度差来驱动末端闭合完成对物体的抓取以及栖息。本发明解决了无人机抓手通常需要引进较为复杂的机械结构以及增加电机数量才能实现抓取的问题。同时降低无人机能耗。


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    Title :

    Rotary gripper mechanism of unmanned aerial vehicle and control method


    Additional title:

    一种无人机回转抓手机构及控制方法


    Contributors:
    DONG HUIXU (author) / ZHU KEQI (author) / DONG RUIHONG (author) / XIA XIASONG (author)

    Publication date :

    2024-07-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64U / B25J Manipulatoren , MANIPULATORS



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