The invention provides a four-rotor unmanned aerial vehicle with bionic inhabiting grabbing arms and an inhabiting control method. The unmanned aerial vehicle comprises an unmanned aerial vehicle body used for providing flight power, and a grabbing arm assembly is installed at the bottom of the unmanned aerial vehicle body; the grabbing arm assembly comprises a large arm and a small arm, one end of the large arm is rotationally connected with the bottom of the unmanned aerial vehicle body, a grabbing arm joint is formed at the other end of the large arm, and the top face of the large arm is connected with the unmanned aerial vehicle body through a first elastic piece so that the large arm can rise upwards. One end of the small arm is rotationally connected with the grabbing arm joint, the other end of the small arm droops relative to the grabbing arm joint and is provided with a clamping gripper, and the clamping gripper has a clamping state and an opening state; the driving assembly is installed on the unmanned aerial vehicle main body, a pull rope is connected to the driving assembly, and the pull rope is used for pulling the clamping tongs to grasp the unmanned aerial vehicle main body; and the pull rope is tensioned when the grabbing arm joint is straightened. According to the unmanned aerial vehicle, accurate grabbing can be achieved, the clamping tongs can be clamped through the dead weight of the unmanned aerial vehicle during inhabiting, and electricity consumption is reduced.
本申请提供一种具有仿生栖息抓取臂的四旋翼无人机及栖息控制方法,其中无人机包括:用于提供飞行动力的无人机主体,无人机主体底部安装有抓取臂组件;抓取臂组件包括:大臂和小臂,大臂一端与无人机主体底部转动连接,另一端形成有抓取臂关节,大臂顶面通过第一弹性件与无人机主体连接,以使大臂上扬;小臂一端与抓取臂关节转动连接,另一端相对抓取臂关节下垂且安装有夹持抓手,夹持抓手包括夹持状态和张开状态;驱动组件,驱动组件安装于无人机主体上,驱动组件上连接有拉绳,拉绳用于拉动夹持抓手抓紧;拉绳在抓取臂关节伸直时拉紧。本申请提供的无人机可实现精准抓取,并且在栖息时可通过无人机自重使夹持抓手夹紧,节省了电量消耗。
Four-rotor unmanned aerial vehicle with bionic inhabitation grabbing arms and inhabitation control method
一种具有仿生栖息抓取臂的四旋翼无人机及栖息控制方法
04.04.2025
Patent
Elektronische Ressource
Chinesisch
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