CN110872003A - Logistics unmanned aerial vehicle airport and control method thereof - Google Patents
Logistics unmanned aerial vehicle airport and control method thereof Download PDFInfo
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- CN110872003A CN110872003A CN201811005971.XA CN201811005971A CN110872003A CN 110872003 A CN110872003 A CN 110872003A CN 201811005971 A CN201811005971 A CN 201811005971A CN 110872003 A CN110872003 A CN 110872003A
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- 230000007246 mechanism Effects 0.000 claims abstract description 110
- 230000003993 interaction Effects 0.000 claims abstract description 14
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- 238000003032 molecular docking Methods 0.000 claims description 10
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000000670 limiting effect Effects 0.000 claims description 3
- 238000012546 transfer Methods 0.000 claims description 3
- 238000004078 waterproofing Methods 0.000 claims 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G63/00—Transferring or trans-shipping at storage areas, railway yards or harbours or in opening mining cuts; Marshalling yard installations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
Abstract
The invention discloses a logistics unmanned aerial vehicle airport, which comprises a cargo box, a waterproof mechanism and a loading and unloading mechanism, wherein the cargo box is used for parking a logistics unmanned aerial vehicle and loading and unloading cargos is arranged above the cargo box, and the waterproof mechanism is used for the logistics unmanned aerial vehicle to resist the external environment; the goods box is built by a plurality of plate bodies, and a goods taking and placing window and a relay window are formed on one side surface of the goods box; the loading and unloading mechanism comprises a horizontal interaction mechanism which is arranged in the cargo box and is used for carrying out cargo interaction with the outside, a lifting platform which is used for the cargo box and the logistics unmanned aerial vehicle to interact cargos, and a cargo cabin mechanism which is arranged below the logistics unmanned aerial vehicle and is used for loading cargos; the waterproof mechanism comprises a first day window body and a second day window body which are arranged in bilateral symmetry and driven to be closed to protect the logistics unmanned aerial vehicle; the upper surface of cargo tank is provided with the parking apron platform that receives the drive to remove, and the parking apron platform drives commodity circulation unmanned aerial vehicle and is in the inner chamber of cargo tank removes in order to be used for cooperating lift platform to the loading and unloading goods of warehouse mechanism.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a logistics unmanned aerial vehicle airport and a control method thereof.
Background
At present, unmanned aerial vehicles are increasingly applied to the logistics industry, but the existing transportation mode of unmanned aerial vehicles is that a shipper installs goods in a special carrier of the unmanned aerial vehicle, then the unmanned aerial vehicle is lifted off and goes to a cargo unloading place, after the unmanned aerial vehicle arrives at the cargo unloading place, the unmanned aerial vehicle lands on the ground, the special carrier is opened by a consignee at the cargo unloading place, and the goods are taken out, in the process, the goods loaded and unloaded by the unmanned aerial vehicle need to be matched by personnel, so that much manpower is occupied, particularly, the consignee often needs to have certain cargo unloading experience at the cargo unloading place, so that the unmanned aerial vehicle cannot be normally lifted off due to misoperation in the cargo unloading process, on the other hand, if the consignee does not arrive at the cargo unloading place when the unmanned aerial vehicle arrives, the unmanned aerial vehicle needs to be retained at the cargo unloading place for a long time, and, this would tend to greatly affect the efficiency of the drone;
particularly, in places with extensive and sparse people, the unmanned aerial vehicle is convenient to transport, but the quantity of goods in the places is relatively small, if a designated person is always in the place for loading and unloading goods, the workload of the person for loading and unloading goods is very small, and great labor cost is wasted, but if the designated person is not assigned to guard a post to wait for loading and unloading goods, the unmanned aerial vehicle transports the goods, but the person cannot leave until the person arrives to load and unload the goods, so that great efficiency is caused;
moreover, unmanned aerial vehicle is generally in outdoor activity when handling goods, makes things convenient for unmanned aerial vehicle goods handling to accomplish fast flight from like this, but external weather condition is indefinite, also can produce very big influence to unmanned aerial vehicle goods handling, also is the urgent need to solve to the problem of protection unmanned aerial vehicle and goods like this.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a logistics unmanned aerial vehicle airport which has the main functional advantages of resisting the external environment and automatically loading and unloading goods.
The invention is realized by the following technical scheme:
a logistics unmanned aerial vehicle airport comprises a cargo box for parking a logistics unmanned aerial vehicle and automatic cargos, a waterproof mechanism which is arranged above the cargo box and used for the logistics unmanned aerial vehicle to resist the external environment, and a loading and unloading mechanism for realizing automatic loading and unloading of cargos;
the goods box is built by a plurality of plate bodies, and a goods taking and placing window and a relay window are formed in one side surface of the goods box;
the loading and unloading mechanism comprises a horizontal interaction mechanism which is arranged in the cargo box and is used for carrying out cargo interaction with the outside, a lifting platform which is used for the cargo box and the logistics unmanned aerial vehicle to interact cargos, and a cargo cabin mechanism which is arranged below the logistics unmanned aerial vehicle and is used for loading cargos;
the waterproof mechanism comprises a first day window body and a second day window body which are arranged in bilateral symmetry and driven to be closed to protect the logistics unmanned aerial vehicle;
the upper surface of cargo box be provided with the parking platform that receives the drive to remove, the parking platform drive commodity circulation unmanned aerial vehicle be in the inner chamber of cargo box removes in order to be used for the cooperation lift platform to the freight warehouse mechanism loading and unloading goods.
In the above technical solution, the horizontal interaction mechanism includes a delivery conveyor for delivering goods and a relay conveyor symmetrically arranged with the delivery conveyor, the delivery conveyor is disposed on a carrier, the carrier is driven to make the end of the delivery conveyor extend out of the goods access window or retract from the goods access window and close to the lifting platform, the lifting platform interacts goods with the storage bin mechanism along a goods outlet disposed on the apron platform, and a terminal of the relay conveyor corresponds to the relay window for transferring goods.
In the technical scheme, a lifting mechanism used for driving the parking platform to move up and down in the inner cavity of the cargo box is arranged below the parking platform, the lifting mechanism comprises two lead screw lifting mechanisms and a guide module used for guiding the lead screw lifting mechanisms to move, lead screws of the two lead screw lifting mechanisms are vertically arranged at the left central position and the right central position of the parking platform respectively, nuts of the lead screw lifting mechanisms are fixedly connected with the parking platform, the guide module is a guide rod which is vertical correspondingly and penetrates through the parking platform, guide holes corresponding to the guide rods are formed in the parking platform, and guide sleeves are inserted in the guide holes.
In the technical scheme, the cargo bin mechanism comprises a box body with a lower opening and at least two lifting mechanisms respectively arranged at the left side and the right side of the bottom of the box body; the lifting mechanism comprises a shell fixedly arranged on the bottom edge of the box body and an object supporting handle used for lifting and throwing the goods box, a self-locking steering engine used for driving the object supporting handle to rotate horizontally is arranged in the shell, a pressure sensor is arranged at the free end of the object supporting handle, and a clamping device used for clamping and fixing the goods box arranged in the box body is arranged on the box body.
In the technical scheme, the self-locking steering engine is connected with a turbine rod in a shaft mode, the linkage end of the object supporting handle is of a semicircular structure, and turbine teeth are uniformly distributed on the linkage end of the object supporting handle and used for driving the object supporting handle to rotate towards the side arm direction of the box body.
In the technical scheme, each side edge of the box body is provided with an L-shaped side wing plate used for limiting the goods in the box body, and a support strip sunken to the inner cavity of the box body is arranged between the upper cross beam and the lower cross beam of the box body.
In the above technical solution, the retaining device includes a plurality of elastic retaining strips, the plurality of elastic retaining strips are respectively disposed on the bottom edges of the side wing plates and the box body, wherein the bottom ends of the elastic retaining strips are fixed on the box body or the side wing plates, the top ends are inclined toward the inner cavity of the box body, and the tail ends are arranged as everted arc surfaces for fixing the goods.
In the above technical solution, the waterproof mechanism further includes a sealing mechanism for sealing the first day window body and the second day window body in a closed state, the sealing mechanism includes a docking lip disposed on the front side edge of the first day window body and extending forward, a docking thin edge disposed on the front side edge of the second day window body and extending forward, and a sealing strip fixedly connected to the front side edge of the first day window body or the second day window body, the docking thin edge can be inserted into the inner side of the docking lip in a matching manner and achieve sealing, and a water chute is formed on the side of the sealing strip facing the docking thin edge.
In the technical scheme, the first antenna window body and the second skylight body are respectively composed of a skeleton of a polyhedral framework and a cover plate built on the skeleton, wherein the skeleton is provided with a slope surface with an upward-bulging center for sliding water falling on the first antenna window body and the second skylight body from the outer edge of the slope surface.
In the technical scheme, the side cover plates of the first day window body and the second day window body are respectively provided with the framework rib plate, the framework rib plates are in transmission connection with the driving mechanism, and the driving mechanism is a unilateral ball bidirectional screw to realize synchronous anisotropic action of the first day window body and the second skylight body.
A control method of a logistics unmanned aerial vehicle airport comprises the following steps:
firstly, the step of unloading is carried out,
11) the parking platform is lifted, and after the logistics unmanned aerial vehicle stops, the goods warehouse is positioned by the righting mechanism to enable the lower opening of the goods warehouse to be aligned with the loading and unloading hole;
12) after the parking apron platform carries the cargo bin and descends to the lowest position, the lifting apron platform rises and extends into the cargo bin to support the cargo box, and meanwhile, the carrier frame is driven to move towards the lifting apron platform side and lean against the lifting apron platform side;
13) the lifting mechanism of the cargo bin retracts, the parking platform rises, and the lifting platform bears the cargo box and falls back to the lower part of the parking platform;
14) the delivery conveyor belt is driven to operate so that the goods box is transferred to the delivery conveyor belt, then the carrier frame is driven to move towards the goods taking and placing window side, and the front end part of the delivery conveyor belt extends out; or the relay conveyor belt is driven to transfer the goods box to a temporary goods storage cabinet or other goods boxes;
secondly, a loading step, in which,
21) driving the carrier frame to move towards the side of the goods taking and placing window and extending the front end part of the delivery conveyor belt;
22) the pressure sensor senses the weight of the cargo box, an alarm is given if the weight of the cargo box does not meet the delivery condition, and the next step is carried out if the weight of the cargo box meets the delivery condition;
23) the carrier is driven to retract, then the conveyor belt is delivered to run and the goods box is conveyed to the lifting platform,
24) the parking platform falls to the lowest position, the lifting mechanism of the cargo compartment retracts, and the lifting platform rises and is delivered to the cargo compartment through the cargo box;
25) the lifting mechanism of the warehouse extends out; the lifting platform lands and penetrates through the lifting mechanism, the parking platform is lifted at the same time, and the cargo box is loaded in the cargo compartment.
The invention has the advantages and beneficial effects that:
the logistics unmanned airport is provided with the cargo box for loading and unloading cargos, the cargo box can complete cargo interaction between external cargos and the logistics unmanned aerial vehicle, personnel operation is avoided, abnormal conditions can be generated in the transportation process of the logistics unmanned aerial vehicle, the cargos on the logistics unmanned aerial vehicle can be interacted in time, the time of arrival of cargos is prevented from being delayed, the logistics unmanned aerial vehicle meeting the external severe environment in the transportation process can be effectively protected by adopting a waterproof mechanism, and the damage to the logistics unmanned aerial vehicle is reduced.
Drawings
Fig. 1 is a schematic top view of a logistics unmanned airport provided with cargo boxes for loading and unloading cargo according to the present invention.
Fig. 2 is a schematic structural view of a logistics unmanned airport provided with a cargo hold mechanism for loading and unloading cargo according to the present invention.
Fig. 3 is a schematic view of an architecture of a logistics unmanned airport provided with cargo boxes for loading and unloading cargo according to the present invention.
Fig. 4 is a schematic structural view of a logistics unmanned aerial vehicle provided with a waterproof mechanism for loading and unloading goods according to the invention.
Fig. 5 is a schematic structural view of a logistics unmanned airport provided with a second day window for loading and unloading goods according to the present invention.
Fig. 6 is a schematic structural view of a logistics unmanned airport provided with a first day window for loading and unloading goods according to the present invention.
Fig. 7 is a schematic structural view of a logistics unmanned aerial vehicle having a chute for loading and unloading cargo according to the present invention.
Wherein:
1: cargo box, 2: loading and unloading mechanism, 2-1: horizontal interaction mechanism, 2-1-1: delivery conveyor, 2-1-2: relay carousel, 2-1-3: carrier, 2-1-4: a goods taking and placing window, 2-1-5: relay window, 2-2: lifting platform, 2-3: warehouse mechanism, 2-3-1: case, 2-3-2: lifting mechanism, 2-3-3: pressure sensor, 2-3-4: clamping device, 2-3-5: material supporting handle, 2-3-6: side wing plate, 2-3-7: support strip, 3: waterproof mechanism, 3-1: first day window, 3-2: window of the next day, 3-3: sealing mechanism, 3-3-1: docking lip, 3-3-2: butt-joint thin edges, 3-3-3: weather strip, 3-3-4: water chute, 4: parking apron, 5: lifting mechanism, 5-1: screw rod lifting mechanism, 5-2: guide module, 5-2-1: guide bar, 5-2-2: guide hole, 5-2-3: and a guide sleeve.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the present invention is further described below with reference to fig. 1 to 7 and the specific embodiments.
Example 1
A logistics unmanned aerial vehicle airport comprises a cargo box 1 for parking a logistics unmanned aerial vehicle and loading and unloading cargos, a waterproof mechanism 3 which is arranged above the cargo box 1 and used for the logistics unmanned aerial vehicle to resist the external environment, and a loading and unloading mechanism 2 used for realizing automatic loading and unloading of cargos;
the cargo box 1 is built by a plurality of plate bodies, wherein the top end of each plate body is provided with a turned edge which is internally buckled, a lamp strip for illumination and warning is arranged on the inner side of the turned edge, and a cargo taking and placing window 2-1-4 and a relay window 2-1-5 are formed on one side surface of the cargo box 1;
the loading and unloading mechanism 2 comprises a horizontal interaction mechanism 2-1 which is arranged in the cargo box 1 and is used for carrying out cargo interaction with the outside, a lifting platform 2-2 which is used for the cargo box 1 and a logistics unmanned aerial vehicle to interact cargos, and a warehouse mechanism 2-3 which is arranged below the logistics unmanned aerial vehicle and is used for loading cargos;
the waterproof mechanism 3 comprises a first day window 3-1 and a second day window 3-2 which are arranged in bilateral symmetry and driven to be closed to protect the logistics unmanned aerial vehicle;
the upper surface of the cargo box 1 is provided with a driving moving parking platform 4, and the parking platform 4 drives the logistics unmanned aerial vehicle to move in the inner cavity of the cargo box 1 so as to be matched with the lifting platform 2-2 to load and unload cargos to the cargo bin mechanism 2-3.
The logistics unmanned airport is provided with the cargo box for loading and unloading cargos, the cargo box can complete cargo interaction between external cargos and the logistics unmanned aerial vehicle, personnel operation is avoided, abnormal conditions can be generated in the transportation process of the logistics unmanned aerial vehicle, the cargos on the logistics unmanned aerial vehicle can be interacted in time, the time of arrival of cargos is prevented from being delayed, the logistics unmanned aerial vehicle meeting the external severe environment in the transportation process can be effectively protected by adopting a waterproof mechanism, and the damage to the logistics unmanned aerial vehicle is reduced.
A control method of a logistics unmanned aerial vehicle airport is characterized in that,
firstly, the step of unloading is carried out,
11) the parking platform is lifted, and after the logistics unmanned aerial vehicle stops, the goods warehouse is positioned by the righting mechanism to enable the lower opening of the goods warehouse to be aligned with the loading and unloading hole;
12) after the parking apron carries the cargo bin and falls to the lowest position, the lifting apron rises and extends into the cargo bin (3) to bear the cargo box, and meanwhile, the carrier is driven to move towards the lifting apron side and lean against the lifting apron side;
13) the lifting mechanism of the cargo bin retracts, the parking platform rises, and the lifting platform bears the cargo box and falls back to the lower part of the parking platform;
14) the delivery conveyor belt is driven to operate so that the goods box is transferred to the delivery conveyor belt, then the carrier frame is driven to move towards the goods taking and placing window side, and the front end part of the delivery conveyor belt extends out; or the relay conveyor belt is driven to transfer the goods box to a temporary goods storage cabinet or other goods boxes;
secondly, a loading step, in which,
21) driving the carrier frame to move towards the side of the goods taking and placing window and extending the front end part of the delivery conveyor belt;
22) the pressure sensor senses the weight of the cargo box, an alarm is given if the weight of the cargo box does not meet the delivery condition, and the next step is carried out if the weight of the cargo box meets the delivery condition;
23) the carrier is driven to retract, then the conveyor belt is delivered to run and the goods box is conveyed to the lifting platform,
24) the parking platform falls to the lowest position, the lifting mechanism of the cargo compartment retracts, and the lifting platform rises and is delivered to the cargo compartment through the cargo box;
25) the lifting mechanism of the warehouse extends out; the lifting platform lands and penetrates through the lifting mechanism, the parking platform is lifted at the same time, and the cargo box is loaded in the cargo compartment.
Example 2
Based on the embodiment 1, the horizontal interaction mechanism 2-1 comprises a delivery conveyor belt 2-1-1 for delivering goods and a relay conveyor belt 2-1-2 symmetrically arranged with the delivery conveyor belt 2-1-1, the delivery conveyor belt 2-1-1 is arranged on a carrier 2-1-3, the carrier 2-1-3 is driven to enable the end portion of the delivery conveyor belt 2-1-1 to extend out of a goods access window 2-1-4 or retract from the goods access window 2-1-4 and close to a lifting platform 2-2, the lifting platform 2-2 interacts with the goods warehouse mechanism 2-3 along a goods outlet arranged on an apron platform 4, and the terminal of the relay conveyor belt 2-1-2 is arranged corresponding to the relay window 2-1-5 for transferring goods.
The carrier 2-1-3 is arranged on two linear guide rails which are arranged oppositely through a sliding block and used for driving goods to run in a horizontal translation mode and driven by a gear rack mechanism, a pressure sensor 2-3-3 is arranged between the linear guide rails and the goods warehouse to sense the weight of the goods, the weight measurement is carried out when the goods are received, the goods are directly rejected when the goods are overweight, and the visual system can be matched to judge and identify the shape and the size of the goods to ensure the goods receiving inspection. Of course, the manner that the carriage 2-1-3 is disposed on the linear rails may also be adopted, the opposite inner side surfaces of the two linear rails are respectively provided with a groove slidably connected with the carriage 2-1-3, and the two sides of the carriage 2-1-3 are respectively provided with a driving pulley limited in the groove and driven to move by a rack-and-pinion mechanism, which can also achieve the object of the present invention.
Preferably, the end of the carrier 2-1-3 near the goods access window 2-1-4 is provided with an end panel to constitute a drawer type structure, with the end panel closing the goods access window 2-1-4.
Adopting a relay conveyor belt 2-1-2, preferably, the delivery conveyor belt 2-1-1 and the relay conveyor belt 2-1-2 are respectively arranged at two ends of the lifting platform 2-2, wherein the length of the goods is long enough to enable the two ends to be respectively placed on the delivery conveyor belt 2-1-1 and the relay conveyor belt 2-1-2; therefore, goods can be conveyed to the window for delivery through the delivery conveyor belt 2-1-1, and can also be conveyed in another direction through the relay conveyor belt 2-1-2 and can be conveyed to the temporary storage box or the relay conveyor belt 2-1-2 corresponding to another goods box 1 for relay transportation, and the application of the goods is greatly expanded.
The left side and the right side of the lifting platform 2-2 are respectively provided with a group of correlation sensors for sensing the position of goods, the two groups of correlation sensors can effectively ensure that the goods stop position enables the goods to be simultaneously put on the delivery conveyor belt 2-1-1 and the relay conveyor belt 2-1-2, and when the goods need to be moved, one or two conveyor belts can be matched to move to finish the transportation.
Preferably, the top surface of the storage box 1 is provided with a parking platform 4 for parking the unmanned logistics vehicle, wherein a delivery port is arranged at the center of the parking platform 4, the delivery port corresponds to a storage mechanism arranged below the unmanned logistics vehicle for carrying goods, when the storage mechanism is parked at the delivery port, the lifting platform 2-2 is arranged below the goods, the parking platform 4 is driven to move downwards, the storage mechanism places the goods on the lifting platform 2-2 along the delivery port, when the storage mechanism is moved to the lowest end, the lifting platform 2-2 is already inserted into the box body 2-3-1 of the storage mechanism 2-3 and lifts the goods or releases the goods, the lifting platform 2-2 moves downwards to move the goods box body 2-3-1 away, and when the goods need to be delivered, the delivery conveyor 2-1-1 conveys the goods to the inner side of the end plate, the carrier 2-1-3 extends out of the goods taking and placing window 2-1-4 along the two linear guide rails to move and enable goods to penetrate out of the goods taking and placing window 2-1-4, after the goods are taken out, the carrier 2-1-3 retracts along the two linear guide rails, when relay interaction is needed, the relay conveyor belt 2-1-2 conveys the goods to the relay window and transports the goods to another spare goods box, the goods are transported to a spare logistics unmanned aerial vehicle, and the relay conveyor belt 2-1-2 stops working.
Example 3
Based on the embodiment 2, the lifting mechanism 5 for driving the tarmac platform 4 to move up and down in the inner cavity of the cargo box 1 is arranged below the tarmac platform 4, the lifting mechanism 5 comprises two lead screw lifting mechanisms 5-1 and a guide module 5-2 for guiding the lead screw lifting mechanisms 5-1 to move, lead screws of the two lead screw lifting mechanisms 5-1 are respectively vertically arranged at the left central position and the right central position of the tarmac platform 4, nuts of the lead screw lifting mechanisms 5-1 are fixedly connected with the tarmac platform 4, the guide module 5-2 is a guide rod 5-2-1 which is correspondingly vertical and penetrates through the tarmac platform 4, a guide hole 5-2-2 corresponding to the guide rod 5-2-1 is arranged on the tarmac platform 4, a guide sleeve 5-2-3 is inserted in the guide hole 5-2-2, wherein, lead screw elevating system 5-1 includes: the motor is fixedly installed in the cargo box 1, one end of the lead screw is installed in the cargo box 1 through the motor, the other end of the lead screw penetrates through the parking apron platform 4 and is installed on the inner side of the upper top face of the cargo box, the lead screw nut is fixedly installed on the lower bottom face of the parking apron platform 4 and used for driving the parking apron platform 4 to move up and down, and the motor is in communication connection with the controller. The guide rods 5-2-1 are further provided, the guide module 5-2 comprises four guide rods 5-2-1 which are respectively placed at four corners of the supporting cross beam frame 5, one end of each guide rod 5-2-1 is fixedly arranged in the inner cavity of the cargo box 1, and the other end of each guide rod 5-2-1 penetrates through the parking apron platform 4 and is fixedly arranged on the inner side of the upper side surface of the cargo box 1 so as to guide the parking apron platform 4 to move up and down; four corners of the parking apron 4 are provided with guide holes 5-2-2, guide sleeves are inserted into the guide holes 5-2-2, the guide rods 5-2-1 penetrate through the guide sleeves to be connected with the parking apron 4 in a sliding mode, and the guide sleeves are in clearance fit with the guide rods 5-2-1 to be used for preventing the parking apron 4 from inclining or being incapable of moving due to jamming between the parking apron 4 and the guide rods 5-2-1 in the up-and-down moving process of the parking apron 4.
The specific implementation mode is as follows: the guide sleeves are inserted into the guide holes 5-2-2 and fixedly mounted with the guide holes 5-2-2, the guide rods 5-2-1 are fixedly mounted at four corners of the supporting cross beam frame, four feet of the parking apron 4 are sleeved on the guide rods 5-2-1 through the guide sleeves, the controller controls the motor to rotate to drive the parking apron 4 to move up and down, and the guide rods 5-2-1 can ensure that the parking apron 4 vertically moves up and down to avoid the inclination of the parking apron 4 in the up-and-down moving process.
Example 4
Based on the embodiment 3, the cargo compartment mechanism 2-3 comprises a box body 2-3-1 with a lower opening and at least two lifting mechanisms 2-3-2 which are respectively arranged at the left side and the right side of the bottom of the box body 2-3-1; the lifting mechanism 2-3-2 comprises a shell fixedly arranged on the bottom edge of the box body 2-3-1 and a supporting handle 2-3-5 used for lifting and throwing and unloading the cargo box 1, a self-locking steering engine used for driving the supporting handle 2-3-5 to rotate horizontally is arranged in the shell, a pressure sensor 2-3-3 is arranged at the free end part of the supporting handle 2-3-5, and a clamping device 2-3-4 used for clamping and fixing the cargo box 1 arranged in the box body 2-3-1 is arranged on the box body 2-3-1; the self-locking steering engine is connected with a turbine rod in a shaft mode, the linkage end of the object supporting handle 2-3-5 is of a semicircular structure, and turbine teeth are uniformly distributed on the linkage end and used for driving the object supporting handle 2-3-5 to rotate towards the side arm direction of the box body 2-3-1.
Each side edge of the box body 2-3-1 is provided with an L-shaped side wing plate 2-3-6 used for limiting goods in the box body 2-3-1, and a supporting strip 2-3-7 sunken to the inner cavity of the box body 2-3-1 is arranged between the upper cross beam and the lower cross beam of the box body 2-3-1.
The clamping device 2-3-4 comprises a plurality of elastic clamping strips, the elastic clamping strips are respectively arranged on the bottom edges of the side wing plates 2-3-6 and the box body 2-3-1, the bottom ends of the elastic clamping strips are fixed on the box body 2-3-1 or the side wing plates 2-3-6, the top ends of the elastic clamping strips are obliquely arranged towards the inner cavity of the box body 2-3-1, and the tail ends of the elastic clamping strips are arranged into outwards turned arc surfaces for fixing goods.
The specific implementation mode is as follows: when the logistics unmanned aerial vehicle needs to load and unload goods, the logistics unmanned aerial vehicle lands on the parking apron 4, when the logistics unmanned aerial vehicle needs to load and unload the goods, the lifting platform 2-2 (the lifting platform 2-2 comprises a lifting rod and a plate body which is arranged above the lifting rod and used for placing the goods, the length of the plate body is smaller than or equal to the distance between two object supporting handles 2-3-5 on the same side, wherein the lifting rod can adopt an electric lifting rod) to move the goods to be loaded upwards along a goods outlet, the goods enter the box body 2-3-1 along the lower opening of the box body 2-3-1, the lifting mechanisms 2-3-2 on the front side and the rear side of the box body 2-3-1 start to work, the self-locking steering engine is started to drive the object supporting handles 2-3-5 to rotate horizontally, and the end, provided with the pressure sensor 2-3-3, of the object supporting handles 2-3-5 is enabled to When the object supporting handle 2-3-5 rotates 90 degrees (the object supporting handle 2-3-5 is just vertical to the lower cross beam on the left side and the right side), the self-locking steering engine stops working, meanwhile, the pressure sensors 2-3-3 measure the weight of the goods and transmit the measured values to the controller, the controller compares the measured value of each pressure sensor 2-3-3 with a preset loading completion value, when the two values are completely the same or similar, the goods are determined to be loaded, at the moment, the elastic clamping strip can clamp and fix the goods in the box body 2-3-1, the supporting strips 2-3-7 respectively arranged on the four sides of the box body 2-3-1 can clamp the goods to prevent the goods from deflecting or falling off in the transportation process, the lifting platform 2-2 moves downwards to the original position, and in the descending process, a notch corresponding to the object supporting handle 2-3-5 on the lifting platform 2-2 avoids the object supporting handle. Wherein, the size of the box body 2-3-1 is suitable for the size of goods to be loaded. When the goods need to be dumped, the reverse process of the process is realized, namely: the lifting platform 2-2 is supported at the bottom of the goods by avoiding upward movement of the notch, the lock steering engine rotates to drive the object supporting handle 2-3-5 to rotate, one end of the object supporting handle 2-3-5 below the goods moves towards the side wall of the box body 2-3-1, then the lifting platform 2-2 drives the goods to be separated from the box body 2-3-1 from the lower opening of the box body 2-3-1, and the parking apron platform 4 ascends after partial or complete separation to finish unloading.
Preferably, the goods are packed into a regular square structure, so that the goods are convenient to load and unload.
Example 5
Based on embodiment 4, the waterproof mechanism 3 further comprises a sealing mechanism 3-3 for sealing the first day window 3-1 and the second day window 3-2 in a closed state, the sealing mechanism 3-3 comprises a butting lip 3-3-1 arranged on the front side edge of the first day window 3-1 and extending forward, a butting thin edge 3-3-2 arranged on the front side edge of the second day window 3-2 and extending forward, and a sealing strip 3-3-3 fixedly connected with the front side edge of the first day window 3-1 or the second day window 3-2, the butting thin edge 3-3-2 can be matched and deeply butted on the inner side of the butting lip 3-3-1 to realize sealing, a water chute 3-3-4 is formed on the side of the sealing strip 3-3-3-2 facing the butting thin edge 3-3-3-2, the sealing strip is made of materials such as rubber and has certain elasticity, the butt joint lip edges 3-3-1 and the side connecting edges are mutually supported, the sealing effect can be enhanced at first, the flexible positioning can be realized, and the hard impact on the butt joint lip edges is avoided. The first day window body 3-1 and the second day window body 3-2 are both composed of a skeleton of a polyhedral framework and a cover plate built on the skeleton, wherein the skeleton is provided with a slope surface with an upward-bulging center for sliding water falling on the first day window body 3-1 and the second day window body 3-2 from the outer edge of the slope surface. The side cover plates of the first day window body 3-1 and the second day window body 3-2 are respectively provided with a framework rib plate, the framework rib plates are in transmission connection with a driving mechanism, and the driving mechanism is a unilateral ball bidirectional screw to realize synchronous and anisotropic actions of the first day window body 3-1 and the second day window body 3-2.
The unilateral ball bidirectional screw driving mechanism comprises a motor (the motor is a servo motor, the power of the motor is 200W), a screw and two screw nuts which are respectively arranged on a first day window body 3-1 and a second day window body 3-2, wherein a bearing is sleeved in the middle of the screw and fixedly arranged on a guide rail body of the ball bidirectional screw driving mechanism, and the two screw nuts drive the first day window body 3-1 and the second day window body 3-2 to be closed or opened, so that the use is convenient; but the two-way lead screw unilateral of ball sets up, and the opposite side only leads through the guide rail slider and realizes the bulk movement, and unilateral drive is with low costs, and convenient to use also can adopt two sides synchronous by ball drive certainly, reduces the moment of torsion of sky window body, can prevent that the skylight body from producing the tearing condition, uses safe and reliable more, and the accuracy is higher.
Further, wherein the upper surface of the abutment lip is superimposed over the abutment feathers to form the abutment. Preferably, the upper surface of the butt thin edge and the lower surface of the butt lip are correspondingly formed with multi-stage step surfaces to increase the sealing area and improve the sealing effect, so that the butt sealing of the first day window 3-1 and the second day window 3-2 is facilitated.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The invention has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the invention fall within the scope of the invention.
Claims (10)
1. A logistics unmanned aerial vehicle airport is characterized by comprising a cargo box (1) for parking a logistics unmanned aerial vehicle and automatic cargos, a waterproof mechanism (3) which is arranged above the cargo box (1) and used for the logistics unmanned aerial vehicle to resist the external environment, and a loading and unloading mechanism (2) for realizing automatic loading and unloading of cargos;
the goods box (1) is built by a plurality of plate bodies, and a goods taking and placing window (2-1-4) and a relay window (2-1-5) are formed in one side surface of the goods box (1);
the loading and unloading mechanism (2) comprises a horizontal interaction mechanism (2-1) which is arranged in the cargo box (1) and used for interacting cargos with the outside, a lifting platform (2-2) which is used for interacting cargos between the cargo box (1) and the logistics unmanned aerial vehicle, and a warehouse mechanism (2-3) which is arranged below the logistics unmanned aerial vehicle and used for loading cargos;
the waterproof mechanism (3) comprises a first day window body (3-1) and a second day window body (3-2) which are arranged in bilateral symmetry and driven to be closed to protect the logistics unmanned aerial vehicle;
the upper surface of cargo box (1) be provided with by the driving and remove parking apron (4), parking apron (4) drive commodity circulation unmanned aerial vehicle be in the inner chamber of cargo box (1) removes in order to be used for the cooperation lift platform (2-2) to cargo compartment mechanism (2-3) loading and unloading goods.
2. A logistics drone airport according to claim 1, characterized by the fact that the horizontal interface mechanism (2-1) comprises a delivery conveyor (2-1-1) for delivering the goods and a relay conveyor (2-1-2) symmetrically arranged with respect to the delivery conveyor (2-1-1), the delivery conveyor (2-1-1) being arranged on a carriage (2-1-3), the carriage (2-1-3) being driven to move the end of the delivery conveyor (2-1-1) along the exit from the goods pick-and-place window (2-1-4) or to retract from the goods pick-and-place window (2-1-4) and close to the lifting platform (2-2), the lifting platform (2-2) along the exit arranged on the apron platform and the exit on the apron platform and the lifting platform (2-2) The warehouse mechanism (2-3) performs goods interaction, and the terminals of the relay conveyor belts (2-1-2) are arranged corresponding to the relay windows (2-1-5) for transferring goods.
3. A logistics unmanned aerial vehicle airport according to claim 1, wherein a lifting mechanism (5) for driving the tarmac (4) to move up and down in the inner cavity of the cargo box (1) is arranged below the tarmac (4), the lifting mechanism (5) comprises two lead screw lifting mechanisms (5-1) and a guide module (5-2) for guiding the lead screw lifting mechanisms (5-1) to move, lead screws of the two lead screw lifting mechanisms (5-1) are respectively vertically arranged at the left central position and the right central position of the tarmac (4), nuts of the lead screw lifting mechanisms (5-1) are fixedly connected with the tarmac (4), the guide module (5-2) is a guide rod (5-2-1) which is correspondingly vertical and penetrates through the tarmac (4), the parking apron (4) is provided with a guide hole (5-2-2) corresponding to the guide rod (5-2-1), and a guide sleeve (5-2-3) is inserted into the guide hole (5-2-2).
4. A logistics unmanned aerial vehicle airport according to claim 1, wherein said cargo compartment means (2-3) comprises a box body (2-3-1) with a lower opening and at least two lifting means (2-3-2) respectively arranged at the left and right sides of the bottom of said box body (2-3-1); the lifting mechanism (2-3-2) comprises a shell fixedly mounted on the bottom edge of the box body (2-3-1) and a supporting handle (2-3-5) used for lifting and throwing the goods box (1), a self-locking steering engine used for driving the supporting handle (2-3-5) to horizontally rotate is arranged in the shell, a pressure sensor (2-3-3) is arranged at the free end part of the supporting handle (2-3-5), and a clamping device (2-3-4) used for clamping and fixing the goods box (1) arranged in the box body (2-3-1) is arranged on the box body (2-3-1).
5. The logistics unmanned aerial vehicle airport according to claim 4, wherein the self-locking steering engine is coupled with a turbine rod, the linkage end of the object supporting handle (2-3-5) is of a semicircular structure, and turbine teeth are uniformly distributed on the linkage end of the object supporting handle for driving the object supporting handle (2-3-5) to rotate towards the side arm direction of the box body (2-3-1).
6. A logistics unmanned aerial vehicle airport according to claim 5, wherein each side of the box body (2-3-1) is provided with an L-shaped wing plate (2-3-6) for limiting the goods in the box body (2-3-1), and a support strip (2-3-7) sunken to the inner cavity of the box body (2-3-1) is arranged between the upper cross beam and the lower cross beam of the box body (2-3-1).
7. A logistics unmanned aerial vehicle airport according to claim 6, wherein the holding device (2-3-4) comprises a plurality of elastic holding strips, the elastic holding strips are respectively arranged on the bottom edges of the side wing plates (2-3-6) and the box body (2-3-1), wherein the bottom ends of the elastic holding strips are fixed on the box body (2-3-1) or the side wing plates (2-3-6), the top ends of the elastic holding strips are obliquely arranged towards the inner cavity of the box body (2-3-1), and the tail ends of the elastic holding strips are arranged into an everted cambered surface for fixing the goods.
8. A logistics unmanned aerial vehicle airport according to claim 1, wherein said waterproofing mechanism (3) further comprises a sealing mechanism (3-3) for sealing said first day window (3-1) and said second day window (3-2) in a closed state, said sealing mechanism (3-3) comprises a docking lip (3-3-1) disposed on a front side of said first day window (3-1) and extending forward, a docking featheredge (3-3-2) disposed on a front side of said second day window (3-2) and extending forward, and a sealing strip (3-3-3) fixedly connected to a front side of said first day window (3-1) or said second day window (3-2), said docking featheredge (3-3-2) is fittingly inserted into said docking lip (3-3-3) -1) inside and sealing, said sealing strip (3-3-3) being formed with a gutter (3-3-4) on the side facing the butt feathered edge (3-3-2).
9. A logistics unmanned aerial vehicle airport according to claim 8, wherein the first day window (3-1) and the second day window (3-2) are each composed of a skeleton of polyhedral structure and a cover plate built on the skeleton, wherein the skeleton is provided with a slope surface with a center bulging upwards for sliding water falling on the first day window (3-1) and the second day window (3-2) from the outer edge position thereof.
10. A method for controlling a logistics drone airport according to claims 1 to 9, characterized by comprising the following steps:
firstly, the step of unloading is carried out,
11) the parking platform is lifted, and after the logistics unmanned aerial vehicle stops, the goods warehouse is positioned by the righting mechanism to enable the lower opening of the goods warehouse to be aligned with the loading and unloading hole;
12) after the parking apron carries the cargo bin and falls to the lowest position, the lifting apron rises and extends into the cargo bin (3) to bear the cargo box, and meanwhile, the carrier is driven to move towards the lifting apron side and lean against the lifting apron side;
13) the lifting mechanism of the cargo bin retracts, the parking platform rises, and the lifting platform bears the cargo box and falls back to the lower part of the parking platform;
14) the delivery conveyor belt is driven to operate so that the goods box is transferred to the delivery conveyor belt, then the carrier frame is driven to move towards the goods taking and placing window side, and the front end part of the delivery conveyor belt extends out; or the relay conveyor belt is driven to transfer the goods box to a temporary goods storage cabinet or other goods boxes;
secondly, a loading step, in which,
21) driving the carrier frame to move towards the side of the goods taking and placing window and extending the front end part of the delivery conveyor belt;
22) the pressure sensor senses the weight of the cargo box, an alarm is given if the weight of the cargo box does not meet the delivery condition, and the next step is carried out if the weight of the cargo box meets the delivery condition;
23) the carrier is driven to retract, then the conveyor belt is delivered to run and the goods box is conveyed to the lifting platform,
24) the parking platform falls to the lowest position, the lifting mechanism of the cargo compartment retracts, and the lifting platform rises and is delivered to the cargo compartment through the cargo box;
25) the lifting mechanism of the warehouse extends out; the lifting platform lands and penetrates through the lifting mechanism, the parking platform is lifted at the same time, and the cargo box is loaded in the cargo compartment.
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| CN201811005971.XA CN110872003A (en) | 2018-08-30 | 2018-08-30 | Logistics unmanned aerial vehicle airport and control method thereof |
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