CN105127992B - Express delivery unmanned plane goods automatic loading and unloading and counterweight platform - Google Patents
Express delivery unmanned plane goods automatic loading and unloading and counterweight platform Download PDFInfo
- Publication number
- CN105127992B CN105127992B CN201510643568.XA CN201510643568A CN105127992B CN 105127992 B CN105127992 B CN 105127992B CN 201510643568 A CN201510643568 A CN 201510643568A CN 105127992 B CN105127992 B CN 105127992B
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- Prior art keywords
- tong
- manipulator
- guide rail
- gear
- horizontal guide
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Abstract
The invention discloses a kind of express delivery unmanned plane goods automatic loading and unloading and counterweight platform, include platform base, hold-down support, manipulator one, support, horizontal guide rail, Mobile Slide, manipulator two, goods information reader and controller, hold-down support is located on platform base, to solid mechanical hand one, the manipulator one under the control of the controller, to load and unload the goods in unmanned engine room on shelf；Horizontal guide rail is located on support, Mobile Slide is located on horizontal guide rail, manipulator two is located on Mobile Slide, goods information reader is located on manipulator two, the goods information reader sends the goods information for scanning reading to controller, controller is controlled to manipulator two, to carry out counterweight to unmanned engine room.Due to using above-mentioned structure type, the automatic loading and unloading of goods is had concurrently, goods information is read and according to the data of scanning, to realize the function of goods intelligent counterweight, so as to the automatic delivery platform suitable for following delivery industry unmanned plane.
Description
Technical field
The present invention relates to a kind of platform for Courier Service, especially a kind of automatic dress for delivery industry unmanned plane
Unload and counterweight platform.
Background technology
Delivery industry develops rapidly in recent years, but handling, distribution, scanning, the delivery of goods still rely primarily on manpower
Realize.It is far away particularly with remote area, have inconvenient traffic, shortage of manpower, the delivery of quick despatch also has many deficiencies
With inconvenience.But with the development of information technology and unmanned air vehicle technique, the Courier Service future for remote districts uses nothing
Man-machine express mail of sending with charge free is possibly realized, and designs the full-automation that a platform helps unmanned plane to realize cargo handling herein.
The content of the invention
The invention aims to improve and improve the quality of Courier Service, the full-automation of cargo handling is realized, is protected
Demonstrate,prove the carrying safety of express delivery unmanned plane, there is provided the platform of a kind of handling for being provided simultaneously with goods, scanning and intelligent counterweight.
To achieve the above object, the technical solution adopted in the present invention is：
Express delivery unmanned plane goods automatic loading and unloading and counterweight platform, include platform base, hold-down support, manipulator one, branch
Frame, horizontal guide rail, Mobile Slide, manipulator two, goods information reader and controller, the hold-down support are located at platform base
On, to solid mechanical hand one, the manipulator one under the control of the controller, to load and unload the goods in unmanned engine room on shelf
Thing；Horizontal guide rail is located on support, and Mobile Slide is located on horizontal guide rail, and Mobile Slide, can edge by the driving of drive mechanism
Horizontal guide rail movement, manipulator two is located on Mobile Slide, and goods information reader is located on manipulator two, the goods letter
Breath reader sends the goods information for scanning reading to controller, and controller is controlled to manipulator two, to nobody
Cabin carries out counterweight.
Further, the support, including column one, column two, connecting plate one and connecting plate two, column one are located at platform
On base, the column two is fixed with the connecting plate two being welded on column one by screw, one end of the horizontal guide rail with
The connecting plate one being welded on column two is connected by screw fixation.
Further, the support, in addition to oblique drawbar and herringbone, the oblique drawbar is holding level
The other end of guide rail, the herringbone to support level guide rail the other end.
Further, the manipulator one includes cylinder and the cylinder piston rod being located in cylinder, cylinder piston rod
End is provided with bowl-shape shape pushing hands, is provided with tong in bowl-shape shape pushing hands, and the tong is by Control, tong folder during energization
Tightly, tong unclamps during power-off.
Further, the upper surface of the horizontal guide rail and tooth row, the tooth row and Mobile Slide are provided with positioned at a side
On gear wheel one, gear wheel two is meshed.
Further, the drive mechanism includes motor, and motor is arranged on the side of Mobile Slide, motor driven little gear
Rotate, little gear drives gear wheel one, gear wheel two to be rotated toward same direction, is engaged with the tooth row on horizontal guide rail, realizes
Move left and right.
Further, the Mobile Slide is equipped with pulley one and pulley two, and the pulley one and gear wheel two are co-axially mounted,
Pulley two is co-axially mounted with gear wheel one, and pulley one and pulley two are located at the upper surface of the horizontal guide rail and are located at opposite side
Side.
Further, it is gentle to include two-way cylinder, connecting rod, tong shape gear one, tong shape gear two for the manipulator two
Cylinder plate, the air cylinder board are located at the end of the piston rod in two-way cylinder, the tong shape gear one and tong shape gear being meshed
Two are located in the plate face of air cylinder board, and one end of connecting rod is hinged with the eccentric fixing axle on the gear face of tong shape gear two, separately
One end and the cylinder body of two-way cylinder are hinged, and when the piston rod in two-way cylinder stretches out, connecting rod pulls tong shape gear two to rotate,
Tong shape gear one and tong shape gear two rotate, and open tong, and when the piston rod in two-way cylinder is retracted, connecting rod promotes
Tong shape gear two rotates, and tong shape gear one and tong shape gear two rotate, and clamp tong.
Further, the front end of the manipulator two is provided with illuminating lamp.
Further, the controller is located in platform base.
Beneficial effects of the present invention：Due to using above-mentioned structure type, the automatic loading and unloading of goods is had concurrently, goods information is read
Take and according to the data of scanning, to realize the function of goods intelligent counterweight, so as to suitable for following delivery industry unmanned plane
It is automatic to deliver platform.
Brief description of the drawings
Using accompanying drawing, the invention will be further described, but the embodiment in accompanying drawing does not form any limit to the present invention
System, for one of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to the following drawings
Other accompanying drawings.
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural representation of the manipulator one shown in Fig. 1；
Fig. 3 is the left side structure schematic diagram of the horizontal guide rail and Mobile Slide shown in Fig. 1；
Fig. 4 is the right side structure schematic diagram of the horizontal guide rail and Mobile Slide shown in Fig. 1；
Fig. 5 is the structural representation of the manipulator two shown in Fig. 1.
In figure：1st, hold-down support；2nd, manipulator one；3rd, controller；4th, Mobile Slide；5th, unmanned engine room；6th, manipulator two；
7th, herringbone；8th, horizontal guide rail；9th, oblique drawbar；10th, column one；11st, column two；12nd, connecting plate two；13rd, connecting plate
One；14th, limit switch；15th, platform base；21st, cylinder piston rod；22nd, bowl-shape shape pushing hands；23rd, tong；41st, motor；42nd, it is small
Gear；43rd, gear wheel one；44th, gear wheel two；45th, support plate；46th, connecting shaft；47th, pulley one；48th, pulley two；61st, it is two-way
Cylinder；62nd, connecting rod；63rd, goods information reader；64th, illuminating lamp；65th, tong shape gear one；66th, tong shape gear two；67、
Air cylinder board.
Embodiment
The present invention is further detailed explanation with reference to the accompanying drawings and detailed description, but is not to the present invention
The limitation of protection domain.
As shown in figure 1, express delivery unmanned plane goods automatic loading and unloading and counterweight platform, include platform base 15, hold-down support
1st, manipulator 1, support, horizontal guide rail 8, Mobile Slide 4, manipulator 26, goods information reader 63 and controller 3, it is described
Controller 3 is located in platform base 15, and the hold-down support 1 is located on platform base 15, described to solid mechanical hand 1
Manipulator 1 is under the control of controller 3, to load and unload the goods in unmanned engine room 5 on shelf；Horizontal guide rail 8 is located at support
On, Mobile Slide 4 is located on horizontal guide rail 8, and Mobile Slide 4 can be moved along horizontal guide rail 8 by the driving of drive mechanism,
Manipulator 26 is located on Mobile Slide 4, and goods information reader 63 is located on manipulator 26, the goods information reader 63
Send the goods information for scanning reading to controller 3, controller 3 is controlled to manipulator 26, to unmanned engine room 5
Carry out counterweight.
Further, the support, including column 1, column 2 11, connecting plate 1 and connecting plate 2 12, column
One 10 are located on platform base 15, and the column 2 11 is fixed with the connecting plate 2 12 being welded on column 1 by screw,
One end of the horizontal guide rail 8 is connected by screw fixation with the connecting plate 1 being welded on column 2 11.
Further, the support, in addition to oblique drawbar 9 and herringbone 7, the oblique drawbar 9 is holding
The other end of horizontal guide rail 8, the herringbone 7 to support level guide rail 8 the other end.
As shown in Fig. 2 the manipulator one includes cylinder and the cylinder piston rod 21 being located in cylinder, cylinder piston rod
21 end is provided with bowl-shape shape pushing hands 22, is provided with tong 23 in bowl-shape shape pushing hands 22, the tong 23 by Control,
Tong 23 clamps during energization, and tong 23 unclamps during power-off.
Because there is a clasp shelf-box front end designed in advance, front end and the tong 23 of bowl-shape shape pushing hands 22 are to be in one
In individual plane, when releasing goods, tong 23 is in releasing orientation, will not contact clasp, and bowl is promoted by cylinder piston rod 21
Shape shape pushing hands 22 shifts shelf-box on platform onto.When needing to draw in goods in shelf-box, first allow before bowl-shape shape pushing hands 22
End contacts with shelf, but now tong 23 and clasp still not in contact with.After energization, tong 23 clamps clasp, then cylinder piston rod
21 are withdrawn, and goods is drawn in into shelf-box.
As shown in Figure 3 and Figure 4, the upper surface of the horizontal guide rail 8 and it is provided with tooth row positioned at a side, the tooth row is with moving
Gear wheel 1, gear wheel 2 44 on dynamic slide unit 4 are meshed.Limit switch 14 is separately installed with the both ends of tooth row.It is described
Drive mechanism includes motor 41, and motor 41 is arranged on the side of Mobile Slide 4, and motor 41 drives little gear 42 to rotate, little gear
42 drive gear wheel 1, gear wheel 2 44 to be rotated toward same direction, are engaged with the tooth row on horizontal guide rail 8, realize left and right
It is mobile.
The Mobile Slide 4 includes connecting shaft 46 and two support plates 45, and two support plates 45 are located at the two of horizontal guide rail 8
Side is simultaneously linked together with connecting shaft 46.Pulley 1 and pulley 2 48, the He of pulley 1 are housed on the Mobile Slide 4
Gear wheel 2 44 is co-axially mounted, and pulley 2 48 is co-axially mounted with gear wheel 1, and pulley 1 and pulley 2 48 are located at the water
The upper surface of level gauge 8 and it is located at another side.
As shown in figure 5, the manipulator 26 includes two-way cylinder 61, connecting rod 62, tong shape gear 1, tong shape tooth
2 66 and air cylinder board 67 are taken turns, the air cylinder board 67 is located at the end of the piston rod in two-way cylinder 61, the tong shape tooth being meshed
Take turns 1 and tong shape gear 2 66 be located in the plate face of air cylinder board 67, one end of connecting rod 62 and the gear of tong shape gear 2 66
Eccentric fixing axle on end face is hinged, and the cylinder body of the other end and two-way cylinder 61 is hinged, when the piston rod in two-way cylinder 61 is stretched
When going out, connecting rod 62 pulls tong shape gear 2 66 to rotate, and tong shape gear 1 and tong shape gear 2 66 rotate, and make tong
Open, when the piston rod in two-way cylinder 61 is retracted, realize the function of lifting goods, connecting rod 62 promotes 2 66 turns of tong shape gear
Dynamic, tong shape gear 1 and tong shape gear 2 66 rotate, and make the folder on tong shape gear 1 and tong shape gear 2 66
Hand portion clamps.Due to having clasp on each cargo compartment for designing in advance, when manipulator 26 drops to goods clasp height, folder
Tong part on hand gear 1 and tong shape gear 2 66 is pinched off clasp.In addition, the front end of the manipulator 26
Illuminating lamp 64 is installed.Described above is the preferred embodiment of the present invention,
Certainly the interest field of the present invention can not be limited with this, it is noted that for the ordinary skill of the art
For personnel, technical scheme is modified or equivalent substitution, without departure from the protection of technical solution of the present invention.
Claims (5)
1. a kind of express delivery unmanned plane goods automatic loading and unloading and counterweight platform, it is characterised in that：Mainly by platform base (15), fixation
Bearing (1), manipulator one (2), support, horizontal guide rail (8), Mobile Slide (4), manipulator two (6), goods information reader
(63), controller (3) is formed, and the hold-down support (1) is located on platform base (15), described to solid mechanical hand one (2)
Manipulator one (2) is under the control of controller (3), to load and unload the goods on unmanned engine room (5) interior shelf；Horizontal guide rail (8)
It is located on support, Mobile Slide (4) is located on horizontal guide rail (8), and Mobile Slide (4), can be along by the driving of drive mechanism
Horizontal guide rail (8) is mobile, and manipulator two (6) is located on Mobile Slide (4), and goods information reader (63) is located at manipulator two
(6) on, the goods information reader (63) sends the goods information for scanning reading to controller (3), and controller (3) is to machine
Tool hand two (6) is controlled, to carry out counterweight to unmanned engine room (5)；The support, including column one (10), column two
(11), connecting plate one (13) and connecting plate two (12), column one (10) are located on platform base (15), the column two (11)
Fixed with the connecting plate two (12) being welded on column one (10) by screw, one end of the horizontal guide rail (8) is with being welded on
Connecting plate one (13) on column two (11) is connected by screw fixation；The support, in addition to oblique drawbar (9) and herringbone
Support (7), the oblique drawbar (9) is to hold the other end of horizontal guide rail (8), and the herringbone (7) is supporting
The other end of horizontal guide rail (8)；The manipulator one includes cylinder and the cylinder piston rod (21) being located in cylinder, and cylinder is lived
The end of stopper rod (21) is provided with bowl-shape shape pushing hands (22), and tong (23) is provided with bowl-shape shape pushing hands (22), and the tong (23) is logical
Cross Control, tong (23) clamps during energization, and tong (23) unclamps during power-off；The upper surface of the horizontal guide rail (8) and
Tooth row is provided with positioned at a side, the tooth row is meshed with the gear wheel one (43) on Mobile Slide (4), gear wheel two (44)；
The manipulator two (6) include two-way cylinder (61), connecting rod (62), tong shape gear one (65), tong shape gear two (66) and
Air cylinder board (67), the air cylinder board (67) are located at the end of the piston rod in two-way cylinder (61), the tong shape gear being meshed
One (65) and tong shape gear two (66) are located in the plate face of air cylinder board (67), one end and the tong shape gear two of connecting rod (62)
(66) the eccentric fixing axle on gear face is hinged, and the other end and the cylinder body of two-way cylinder (61) are hinged, when two-way cylinder
(61) when the piston rod in stretches out, connecting rod (62) pulls tong shape gear two (66) to rotate, tong shape gear one (65) and tong
Shape gear two (66) rotates, and opens tong, and when the piston rod in two-way cylinder (61) is retracted, connecting rod (62) promotes tong
Shape gear two (66) rotates, and tong shape gear one (65) and tong shape gear two (66) rotate, and clamp tong.
2. express delivery unmanned plane goods automatic loading and unloading according to claim 1 and counterweight platform, it is characterised in that：The driving
Mechanism includes motor (41), and motor (41) is arranged on the side of Mobile Slide (4), and motor (41) drives little gear (42) to rotate,
Little gear (42) drives gear wheel one (43), gear wheel two (44) to be rotated toward same direction, with the tooth on horizontal guide rail (8)
Row's engagement, realization move left and right.
3. express delivery unmanned plane goods automatic loading and unloading according to claim 2 and counterweight platform, it is characterised in that：The movement
Slide unit (4) is equipped with pulley one (47) and pulley two (48), and the pulley one (47) and gear wheel two (44) are co-axially mounted, pulley two
(48) it is co-axially mounted with gear wheel one (43), pulley one (47) and pulley two (48) are located at the upper surface of the horizontal guide rail (8)
And it is located at another side.
4. express delivery unmanned plane goods automatic loading and unloading according to claim 1 and counterweight platform, it is characterised in that：The machinery
The front end of hand two (6) is provided with illuminating lamp (64).
5. express delivery unmanned plane goods automatic loading and unloading according to claim 1 and counterweight platform, it is characterised in that：The control
Device（3）It is located at platform base（15）It is interior.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510643568.XA CN105127992B (en) | 2015-10-08 | 2015-10-08 | Express delivery unmanned plane goods automatic loading and unloading and counterweight platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510643568.XA CN105127992B (en) | 2015-10-08 | 2015-10-08 | Express delivery unmanned plane goods automatic loading and unloading and counterweight platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105127992A CN105127992A (en) | 2015-12-09 |
| CN105127992B true CN105127992B (en) | 2018-03-13 |
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ID=54713733
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510643568.XA Expired - Fee Related CN105127992B (en) | 2015-10-08 | 2015-10-08 | Express delivery unmanned plane goods automatic loading and unloading and counterweight platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105127992B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168704A (en) * | 2020-01-14 | 2020-05-19 | 安徽凤杰金属资源有限公司 | Special clamp for assisting manipulator hoisting belt slide rail and use method |
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| CN105825652A (en) * | 2016-04-18 | 2016-08-03 | 汪禹 | Transmitter-receiver device utilizing unmanned aerial vehicle for delivering articles |
| CN105857610B (en) * | 2016-04-21 | 2018-02-13 | 广东工业大学 | A kind of guide tracked counter weight device and delivery unmanned plane |
| DE102016010685A1 (en) * | 2016-09-06 | 2018-03-08 | Daimler Ag | Device for the automated loading and unloading of a free-flying autonomously controlled drone |
| CN106945032A (en) * | 2017-04-05 | 2017-07-14 | 深圳市晓控通信科技有限公司 | A kind of puma manipulator extracted for express delivery |
| US10875644B2 (en) * | 2017-12-28 | 2020-12-29 | Aurora Flight Sciences Corporation | Ground manipulation system and method for fixing an aircraft |
| CN109131896B (en) * | 2018-09-20 | 2024-01-30 | 广东工业大学 | Logistics transportation system and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2621271A1 (en) * | 1987-10-02 | 1989-04-07 | Eude Bernard | DEVICE FOR MOVING A MOBILE, AND PARTICULARLY A HANDLING GRIPPER IN A VERTICAL PLANE |
| CN201032477Y (en) * | 2007-02-17 | 2008-03-05 | 新疆铭鼎高科投资发展有限公司 | Intelligent sampler |
| CN202622332U (en) * | 2012-03-21 | 2012-12-26 | 江苏天宏机械工业有限公司 | Vertical-type clamping horizontal-type machine tool capable of cutting blank riser and drilling central hole |
| CN203889631U (en) * | 2014-03-25 | 2014-10-22 | 彭富国 | Automatic feeding and discharging equipment |
| CN204078913U (en) * | 2014-09-01 | 2015-01-07 | 宁波宫铁精机有限公司 | A kind of buttress code mechanical hand |
| CN104551663B (en) * | 2015-02-06 | 2017-01-18 | 苏州鸿普精密模具有限公司 | Double-manipulator transplanting mechanism of assembly machine for iron cases for automobile condenser |
| CN204954819U (en) * | 2015-10-08 | 2016-01-13 | 广东工业大学 | Express delivery unmanned aerial vehicle goods auto -control handling and counter weight platform |
-
2015
- 2015-10-08 CN CN201510643568.XA patent/CN105127992B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111168704A (en) * | 2020-01-14 | 2020-05-19 | 安徽凤杰金属资源有限公司 | Special clamp for assisting manipulator hoisting belt slide rail and use method |
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| Publication number | Publication date |
|---|---|
| CN105127992A (en) | 2015-12-09 |
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Granted publication date: 20180313 Termination date: 20201008 |