CN109263997B - Loading mechanism, unmanned aerial vehicle and transportation equipment - Google Patents
Loading mechanism, unmanned aerial vehicle and transportation equipment Download PDFInfo
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- CN109263997B CN109263997B CN201811155459.3A CN201811155459A CN109263997B CN 109263997 B CN109263997 B CN 109263997B CN 201811155459 A CN201811155459 A CN 201811155459A CN 109263997 B CN109263997 B CN 109263997B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/10—Stowage arrangements for the devices in aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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Abstract
The present disclosure provides a loading mechanism, including mount pad, controller and drive mechanism, wherein: the mounting seat is provided with a mounting groove, and a through hole penetrating through the wall surface of the mounting seat is formed in the side wall of the mounting groove; a sensing device is arranged in the mounting groove, and can send a loading signal to the controller under the condition that the connecting part of the loaded object enters the mounting groove and triggers the sensing device, so that the controller controls the transmission mechanism to operate according to the loading signal; the transmission mechanism comprises a power device and a connecting rod, wherein the power device is used for driving the connecting rod to move towards a first direction under the control of the controller, and the connecting rod is inserted into the mounting groove through the through hole so as to be pinned into the connecting hole of the load connecting part to be fixed.
Description
Technical Field
The present disclosure relates to the field of electronic technology, and more particularly, to a loading mechanism, an unmanned aerial vehicle, and a transportation device.
Background
Along with the development of science and technology, unmanned aerial vehicle is applied to in various scenes, and wherein commodity circulation unmanned aerial vehicle can be used for the transportation goods, at the starting point, loads the goods on commodity circulation unmanned aerial vehicle by the staff, and unmanned aerial vehicle flies to the uninstallation goods behind the destination.
In the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the prior art:
the existing cargo loading mode needs workers to manually load and fix the cargos, and some cargo loading modes also need manual unloading, for micro and small logistics unmanned aerial vehicles, due to the fact that the height of a machine body is low, when the cargos are manually loaded, operators can load the cargos by adopting a squatting or bending posture, sometimes two persons are matched to smoothly complete the cargos (one person loads the cargos and one person controls locking), the man-machine work efficiency is poor, or a special operation table needs to be arranged to raise the height of the unmanned aerial vehicle and then load the cargos; some commodity circulation unmanned aerial vehicles need manual unloading, have increased the probability that non-professional contacted the aircraft, increase unmanned aerial vehicle and personnel's risk. Therefore, the existing cargo handling mode has the problems of low automation degree, low efficiency and large labor consumption.
Disclosure of Invention
In view of this, the present disclosure provides a loading mechanism, including a mount, a controller and a transmission mechanism, wherein: the mounting seat is provided with a mounting groove, and a through hole penetrating through the wall surface of the mounting seat is formed in the side wall of the mounting groove; a sensing device is arranged in the mounting groove, and can send a loading signal to the controller under the condition that the connecting part of the loaded object enters the mounting groove and triggers the sensing device, so that the controller controls the transmission mechanism to operate according to the loading signal; the transmission mechanism comprises a power device and a connecting rod, wherein the power device is used for driving the connecting rod to move towards a first direction under the control of the controller, and the connecting rod is inserted into the mounting groove through the through hole so as to be pinned into the connecting hole of the load connecting part to be fixed.
According to an embodiment of the present disclosure, the controller is further configured to receive an unloading signal, and the controller is further configured to receive the unloading signal and control the operation of the transmission mechanism according to the unloading signal; the power device is also used for driving the connecting rod to move towards the reverse direction of the first direction under the control of the controller, so that the connecting rod is separated from the connecting hole of the loaded object and falls off.
According to an embodiment of the present disclosure, the sensing device includes a switch device capable of sensing an approaching motion or a touching motion of the loaded object and transmitting an electric signal to the controller as the loading signal.
According to an embodiment of the present disclosure, the switching device includes a first conductive sheet and a second conductive sheet that are not in contact with each other; the first and second conductive sheets are conductive when the load enters the loading position, and the sensing device sends a conductive signal to the controller as a loading signal.
According to an embodiment of the present disclosure, the transmission mechanism includes a gear and a rack, the rack being the connecting rod; the gear is connected with the power device and is used for rotating forwards or backwards under the action of the power device; the rack is used for moving towards a first direction under the action of the gear to be pinned into the connecting hole of the loaded object to be fixed or moving towards the reverse direction of the first direction under the action of the gear to release the loaded object.
According to an embodiment of the present disclosure, the transmission mechanism includes a lead screw and a lead screw nut, and the connecting rod is disposed on the lead screw nut; the screw rod is connected with the power device and used for rotating forwards or backwards under the action of the power device, and the screw rod nut is used for moving towards a first direction under the action of the screw rod to insert the connecting rod into a loaded object to fix the loaded object or moving towards the reverse direction of the first direction under the action of the screw rod to release the loaded object.
According to an embodiment of the present disclosure, the transmission mechanism includes a slider-crank mechanism, and the connecting rod is disposed on a slider of the slider-crank mechanism; the crank-slider mechanism is used for moving the slider towards a first direction under the action of the power device so as to pin the connecting rod into the loaded object to fix the loaded object, or moving the connecting rod towards the opposite direction of the first direction under the action of the power device so as to release the loaded object.
According to an embodiment of the present disclosure, the transmission mechanism includes a cam and a push rod, the push rod being the connecting rod; the cam is used for rotating under the action of the power device, and the push rod is used for moving towards a first direction under the action of the cam to pin in a loaded object to fix the loaded object or moving towards the reverse direction of the first direction under the action of the cam to release the loaded object.
Another aspect of the present disclosure provides a drone including a fuselage and a loading mechanism as in any of the above.
According to an embodiment of the present disclosure, the fuselage comprises a web; the loading mechanism is arranged above the web plate, and the web plate is provided with a mounting hole at a position corresponding to the mounting groove of the loading mechanism, so that part of the structure of the loaded object passes through the web plate and enters the mounting groove of the loading mechanism.
According to an embodiment of the present disclosure, the bottom of the web is provided with at least two guiding structures for guiding the load into the loading position; the guide structure comprises a shock pad for slowing down the vibration between the unmanned aerial vehicle and the loaded object.
Yet another aspect of the disclosure provides a transport apparatus comprising a cargo box and a drone of any of the above.
According to the embodiment of the disclosure, a guide hole and a lug structure are arranged on one side surface of the cargo box; the bump structure is provided with a third conducting strip and a pin hole; the guide hole corresponds to the position of a guide structure at the bottom of the web plate of the unmanned aerial vehicle; the lug structure with mounting hole position on the unmanned aerial vehicle web is corresponding.
According to the embodiment of the disclosure, the problems of low automation degree, low efficiency and large labor consumption in the existing cargo loading and unloading mode can be at least partially solved, and therefore the technical effects of quick and convenient loading and unloading can be realized.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
FIG. 1 schematically illustrates an exemplary application scenario in which a loading mechanism may be applied, according to an embodiment of the present disclosure;
FIG. 2 schematically illustrates a structural schematic of a loading mechanism according to an embodiment of the disclosure;
FIG. 3 schematically illustrates a cross-sectional view of a mount according to an embodiment of the disclosure;
FIG. 4 schematically illustrates a workflow diagram according to an embodiment of the disclosure;
FIG. 5 schematically illustrates a schematic structural diagram of a power and transmission device according to another embodiment of the present disclosure;
FIG. 6 schematically illustrates a schematic structural diagram of a power and transmission device according to yet another embodiment of the present disclosure;
FIG. 7 schematically illustrates a schematic structural diagram of a power and transmission device according to yet another embodiment of the present disclosure;
figure 8 schematically illustrates a cutaway fuselage view of a drone according to an embodiment of the present disclosure;
fig. 9 schematically illustrates a schematic view of a drone loading cargo according to an embodiment of the present disclosure;
figure 10 schematically illustrates a bottom schematic view of a drone according to an embodiment of the present disclosure;
fig. 11 schematically shows a structural schematic view of a crate according to an embodiment of the disclosure;
fig. 12 schematically shows a schematic view of a crate connected with a loading mechanism according to an embodiment of the disclosure;
FIG. 13 schematically illustrates a schematic view of a cushion according to an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, operations, and/or components, but do not preclude the presence or addition of one or more other features, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a device having at least one of A, B and C" would include but not be limited to devices having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a device having at least one of A, B or C" would include but not be limited to devices having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). It will be further understood by those within the art that virtually any disjunctive word and/or phrase presenting two or more alternative terms, whether in the description, claims, or drawings, should be understood to contemplate the possibilities of including one of the terms, either of the terms, or both terms. For example, the phrase "a or B" should be understood to include the possibility of "a" or "B", or "a and B".
An embodiment of the present disclosure provides a loading mechanism, including mount pad, controller and drive mechanism, wherein: the mounting seat is provided with a mounting groove, and a through hole penetrating through the wall surface of the mounting seat is formed in the side wall of the mounting groove; a sensing device is arranged in the mounting groove, and can send a loading signal to the controller under the condition that the connecting part of the loaded object enters the mounting groove and triggers the sensing device, so that the controller controls the transmission mechanism to operate according to the loading signal; the transmission mechanism comprises a power device and a connecting rod, wherein the power device is used for driving the connecting rod to move towards a first direction under the control of the controller, and the connecting rod is inserted into the mounting groove through the through hole so as to be pinned into the connecting hole of the load connecting part to be fixed.
The loading mechanism that this disclosed embodiment provided can respond to whether being placed in the mounted position by the load to automatic triggering fixing device will be fixed in loading mechanism by the load when detecting that being located the mounted position by the load on, like this, can save artifical carry fixed process, and only need alone can accomplish the shipment process fast. On the other hand, in this disclosed embodiment, set up response part on the mount pad to the drive connecting rod inserts and fixes the cargo carrying case in the mounting groove of mount pad, can make loading mechanism's integrated level higher like this, can not too much occupy unmanned aerial vehicle's inner space, can accomplish the fixed of the great cargo carrying case of volume through the widget. And, set up response part in the mounting groove, just can trigger induction system when the coupling part of packing box accurately gets into the mounting groove, avoided the condition that the mistake touched.
Fig. 1 schematically illustrates an exemplary application scenario in which a loading mechanism may be applied according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of an application scenario in which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, but does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 1, the loading mechanism of the embodiment of the present disclosure may be applied to a logistics unmanned aerial vehicle 200 as a loading and unloading device of the logistics unmanned aerial vehicle. The drone 200 may transport the goods at one delivery point to other locations according to a set route, for example, transporting the goods at the location a to the location B and the location C respectively using a plurality of logistics drones, which may transport one or more goods at a time.
When the goods 300 is loaded at location a, the staff can place the goods 300 in the mounted position of commodity circulation unmanned aerial vehicle, and the mounted position can be for example the web below of commodity circulation unmanned aerial vehicle 200, utilizes the automatic fixed goods of the loading mechanism on the commodity circulation unmanned aerial vehicle 200. After the unmanned aerial vehicle arrives at a designated place, goods can be automatically released by using the loading mechanism.
It is understood that the application scenario in fig. 1 is only an example, and the loading mechanism can be used in other scenarios requiring loading and unloading besides the loading and unloading of goods by the logistics unmanned aerial vehicle.
Fig. 2 schematically illustrates a structural schematic of the loading mechanism 100 according to an embodiment of the disclosure.
Fig. 3 schematically illustrates a cross-sectional schematic view of mount 140 according to an embodiment of the present disclosure.
Fig. 4 schematically illustrates a workflow diagram according to an embodiment of the present disclosure.
As shown in fig. 2-4, the present disclosure provides a loading mechanism 100 comprising a mount 140, a controller 120, and a transmission mechanism 130, wherein: the mounting seat 140 is provided with a mounting groove, and a through hole 141 penetrating through the wall surface of the mounting seat is arranged on the side wall of the mounting groove; a sensing device 110 is arranged in the mounting groove, and in case that the connecting part 310 of the loaded object enters the mounting groove and triggers the sensing device 110, the sensing device 110 can send a loading signal to the controller 120, so that the controller 120 controls the operation of the transmission mechanism 130 according to the loading signal; the driving mechanism 130 includes a power unit 131 and a connecting rod 1322, and the power unit 131 is configured to drive the connecting rod 1322 to move in a first direction under the control of the controller 120, and is inserted into the mounting groove through the through hole 141, so that the connecting rod 1322 is pinned into the connecting hole 312 of the load connecting portion 310 to be fixed.
In particular, the loading mechanism 100 may be mounted on a transport device, which may be, for example, a drone, and the loading mechanism 100 may be mounted on a web of the drone.
The sensing device 110 is used for sensing whether the loaded object enters the loading position and sending a loading signal to the controller 120 when the loaded object is sensed to enter the loading position; the controller 120 is used to control the driving mechanism 130 to be fixed by the load upon receiving the load signal. When goods enter the loading position of the unmanned aerial vehicle, since the sensing device 110 of the loading mechanism 100 can sense the touch or approach of the goods, a loading signal is sent to the controller 120 immediately, the controller 120 sends a control signal to the power and transmission device 130, and the transmission mechanism fixes the goods at the loading position of the unmanned aerial vehicle.
The controller 120 may be an overall controller on the transport equipment, such as a flight controller on a drone, or may be a small controller used solely for the loading mechanism 100.
The sensing device 110 may be disposed on the mounting base 140; the transmission mechanism 130 may be disposed at one side of the mounting seat 140. The mounting seat 140 is provided with a mounting groove for receiving the projection structure of the loaded article 300. The loaded article 300 may be provided with a projection structure for connection, i.e., the projection structure may be used as the above-mentioned loaded article connection portion 310, and the projection structure is provided with a connection hole 312.
The side wall of the mounting groove is provided with a through hole 141, and when the bump structure is in the mounting groove, the connection hole 312 of the bump structure is aligned with the through hole 141 of the mounting seat. When the sensing means senses whether the projection structure 310 of the loaded article enters the mounting groove, and sends a loading signal to the controller in case of sensing that the projection structure 310 of the loaded article 300 enters the mounting groove, the controller controls the operation of the driving mechanism to drive the connecting rod 1322 to be pinned into the connecting hole 312 of the loaded article through the through hole 141.
The power device 131 may be a steering engine, and the steering engine may be a control motor with a position control function, such as a model airplane steering engine, a servo motor, a stepping motor, and the like. The steering wheel can be controlled by the controller, and the rotation direction, the number of turns and the slew velocity of motor are controlled accurately.
According to the embodiment of the disclosure, the loading mechanism can sense whether the loaded object is placed in the installation position or not, and automatically trigger the fixing device to fix the object on the loading mechanism when the loaded object is sensed to be located in the installation position, so that the process of manual mounting and fixing can be omitted, and the loading process can be rapidly completed by only one person. On the other hand, in this disclosed embodiment, set up response part on the mount pad to the drive connecting rod inserts and fixes the cargo carrying case in the mounting groove of mount pad, can make loading mechanism's integrated level higher like this, can not too much occupy unmanned aerial vehicle's inner space, can accomplish the fixed of the great cargo carrying case of volume through the widget. And, set up response part in the mounting groove, just can trigger induction system when the coupling part of packing box accurately gets into the mounting groove, avoided the condition that the mistake touched.
According to the embodiment of the disclosure, the controller is further used for receiving the unloading signal and controlling the transmission mechanism to operate according to the unloading signal; the power mechanism 130 is also used for driving the connecting rod 1322 to move in the opposite direction of the first direction under the control of the controller, so that the connecting rod 1222 is disengaged from the connecting hole 312 of the loaded object, and the loaded object is released.
Specifically, the controller 120 may further receive an unloading signal sent by a user, or an unloading signal automatically sent to the controller by another device when a preset condition is met, for example, a positioning device is loaded on the drone, and the positioning device may send the unloading signal to the controller when detecting that the drone has reached a predetermined position.
The controller can send a control signal to the transmission mechanism after receiving the unloading signal, the transmission mechanism releases the article, and the article is separated from the transportation equipment and is thrown to a designated place.
According to the embodiment of the disclosure, the loading mechanism can also automatically release the articles to a designated place under the control of manual control or other devices, so that the manual unloading process is omitted, and the unloading process is quicker.
According to an embodiment of the present disclosure, the sensing device 110 includes a switch device capable of sensing an approaching motion or a touching motion of the loaded object and transmitting an electric signal to the controller as the loading signal.
Specifically, when the loaded object is placed at the loading position of the transportation device, the loaded object touches or approaches the switch device, the switch is turned on, and the instant when the circuit of the sensing device is completed can send an electric signal to the controller 120 connected thereto, and the electric signal can be used as the loading signal.
According to the embodiment of the disclosure, the switch device is triggered by the touch and approach actions of the loaded object, so that the mechanical device is controlled to fix the loaded object, the structure is simple, the implementation is easy, and the reaction is quick.
As shown in fig. 2 and 3, according to an embodiment of the present disclosure, the induction device 110 may include a first conductive sheet 111 and a second conductive sheet 112 that are not in contact with each other; when the loaded article enters the loading position, the first conductive sheet 111 and the second conductive sheet 112 can be conducted, and the sensing device 110 sends a conducting electric signal to the controller 120 as a loading signal.
Specifically, the first conductive plate 111 and the second conductive plate 112 may be disposed on the mounting seat 140, and the mounting seat 140 is provided with a mounting groove into which the bottom portions of the first conductive plate 111 and the second conductive plate 112 extend.
The connecting portion 310 of the loaded article may be provided with an elongated third conductive sheet 311. When the loaded article is placed at the loading position, the connecting portion 310 may extend into the mounting groove of the mounting base 140, the third conductive plate 311 may contact the bottoms of the first conductive plate 111 and the second conductive plate 112, so that the first conductive plate 111 and the second conductive plate 112 are connected, the circuit connected to the first conductive plate 111 and the second conductive plate 112 is conducted, and the conducting signal may be sent to the controller after the circuit is conducted. The controller may also receive an unload instruction.
In addition, the first and second conductive sheets 111 and 112 may be disposed in other locations as long as they are ensured to be in contact with the conductive material disposed on the loaded article when the article is placed in the loading position.
According to the embodiment of the disclosure, the conducting plate is used as the conducting switch, so that the article can quickly react in place, the structure is simple, the implementation is easy, and the misoperation is not easy to occur.
The switch device can be a switch formed by the conductive elastic sheet, and can also be a micro switch or other non-self-locking general electronic switches, a proximity switch, a travel switch and the like. Among them, the micro switch is a contact switch, when it is subjected to a slight external force, such as being pressed by a loaded object, its fixed contact and movable contact are quickly connected, and the connection moment can send an electric signal to the controller 120 connected thereto. The proximity switch is a position switch which can be operated without mechanical contact with a moving part, and when the sensing surface of the object proximity switch reaches an action distance, the switch is actuated without mechanical contact and any pressure is applied. The travel switch is also a position switch, and the contact of the travel switch is operated by the collision of a moving part to connect or disconnect a control circuit. In these cases, the loaded article need not have an electrically conductive material disposed thereon.
As shown in fig. 2 and 3, according to the embodiment of the present disclosure, the transmission mechanism 130 includes a gear 1321 and a rack, which may be used as the above-mentioned connecting rod 1322; the gear 1321 is connected to the power device 131 and used for forward rotation or reverse rotation under the action of the power device 131; the rack is adapted to move in a first direction by the gear 1321 to be pinned into the coupling hole of the loaded article to be fixed, or to move in a direction opposite to the first direction by the gear 1321 to release the loaded article.
Specifically, the transmission mechanism may be composed of a gear 1321 and a rack which are engaged with each other, the gear 1321 may be connected to an output shaft of the steering engine, and the rack and pinion mechanism converts the rotational motion of the steering engine into a linear motion. The transmission mechanism may further include a guide slot 1323, the guide slot 1323 being configured to limit the rotation of the rack gear and to restrict the direction of movement of the rack gear 1322.
When the controller receives a loading signal, the steering engine can be controlled to rotate forward to drive the gear 1321 to rotate clockwise, the rack meshed with the gear 1321 moves towards the + X direction shown in fig. 4, and the + X direction is the first direction. The coupling portion 310 of the loaded article is provided with a pin hole 312 at a position opposite to the through hole 141, and the rack gear can be inserted into the pin hole 312 through the through hole 141 to fix the loaded article 300.
When the controller receives the unloading signal, the steering engine can be controlled to rotate reversely to drive the gear 1321 to rotate anticlockwise, and the rack meshed with the gear moves towards the-X direction, wherein the-X direction is the opposite direction of the first direction. The rack 1322 is withdrawn from the pin hole 312 and the load loses its holding force and is released from the loading mechanism 100.
Fig. 5 schematically illustrates a structural schematic of a power and transmission device according to another embodiment of the present disclosure.
As shown in fig. 5, according to another embodiment of the present disclosure, the power and transmission device may include a power device 131 and a transmission mechanism; the transmission mechanism comprises a lead screw 1331 and a lead screw nut 1332, and the connecting rod 1322 is arranged on the lead screw nut 1332; the screw 1331 is connected to the power device 131 and used for forward rotation or reverse rotation under the action of the power device 131; the lead screw nut 1332 is used to move in a first direction by the lead screw 1331 to insert the connecting rod 1322 into the loaded object to be fixed, or to move in a direction opposite to the first direction by the lead screw 1331 to release the loaded object.
Specifically, the transmission mechanism can also be composed of a lead screw 1331 and a lead screw nut 1332 which are matched with each other, and the lead screw and nut mechanism converts the rotary motion of the steering engine into linear motion. The screw 1331 is connected to an output shaft of the steering engine and rotates along with the rotation of the steering engine. The lead screw nut 1332 is sleeved on the lead screw 1331, and as the lead screw 1331 rotates, the lead screw nut 1332 moves along the lead screw 1331 under the constraint force of the fixing rod 1334, and the connecting rod 1322 on the lead screw nut 1332 can also move back and forth along with the lead screw nut 1332.
When the controller receives a loading signal, the steering engine can be controlled to rotate forward to drive the screw rod 1331 to rotate forward, the screw rod nut moves towards the + X direction shown in figure 6, and the + X direction is the first direction. The connecting rod 1322 is inserted into the pin hole 312 to fix the loaded object.
When the controller receives the unloading signal, the steering engine can be controlled to rotate reversely to drive the screw rod 1331 to rotate reversely, the screw rod nut moves towards the + X direction, and the + X direction is the opposite direction of the first direction. The connecting rod 1322 is withdrawn from the pin hole 312 and the load loses its holding power and disengages from the loading mechanism 100.
Fig. 6 schematically shows a schematic structural view of a power and transmission device according to yet another embodiment of the present disclosure.
As shown in fig. 6, according to another embodiment of the present disclosure, the transmission mechanism may further include a slider-crank mechanism, and the connecting rod 1322 is disposed on a slider of the slider-crank mechanism; the crank-slider mechanism is used for moving the connecting rod 1322 in a first direction under the action of the power device to pin a loaded object to be fixed, or moving the slider in a direction opposite to the first direction under the action of the power device to release the loaded object.
The crank-slider mechanism can also convert the rotary motion output by the steering engine into linear motion. The crank 1341 of the crank-slider mechanism is connected with the rudder machine shaft, and is connected with the slider through a connecting rod 1342, so that the slider can move linearly, and further, the loaded object can be clamped and released by utilizing a connecting rod 1322 on the slider.
Fig. 7 schematically shows a structural schematic of a power and transmission device according to yet another embodiment of the present disclosure.
As shown in fig. 7, according to another embodiment of the present disclosure, the transmission mechanism may further include a cam 1351 and a push rod as the connecting rod 1322; the cam 1351 is used for rotating under the action of a power device, and the push rod is used for moving in a first direction under the action of the cam 1351 to pin in a loaded object to be fixed, or moving in a direction opposite to the first direction under the action of the cam 1351 and the spring 1353 to release the loaded object.
The cam mechanism is matched with the spring 1353 to convert rotary motion into linear motion, the cam 1351 is connected with an output shaft of the steering engine to promote the push rod 1352 of the cam mechanism to move linearly, and the push rod 1352 realizes clamping and releasing of a loaded article.
Another aspect of the present disclosure provides a drone including a fuselage and the loading mechanism 100 described above. The loading mechanism 100 is mounted on the body as a device for loading the cargo of the drone.
According to an embodiment of the present disclosure, the fuselage comprises a web; the loading mechanism is arranged above the web plate, and the web plate is provided with a mounting hole at a position corresponding to the mounting groove of the loading mechanism, so that part of the structure of the loaded object passes through the web plate and enters the mounting groove of the loading mechanism.
Fig. 8 schematically illustrates a cross-sectional view of a fuselage of a drone according to an embodiment of the present disclosure.
Fig. 9 schematically shows a schematic view of a drone loading cargo according to an embodiment of the present disclosure.
Fig. 10 schematically illustrates a schematic bottom view of a drone according to an embodiment of the present disclosure.
Fig. 11 schematically shows a structural view of a crate according to an embodiment of the disclosure.
Fig. 12 schematically shows a schematic view of a crate connected with a loading mechanism according to an embodiment of the disclosure.
As shown in fig. 8 and 9, the drone includes a fuselage in the central area, and support rods and wings connected to the fuselage, the bottom of the fuselage is a web 210, and the loading mechanism 100 may be installed above the web 210 in the middle of the web 210.
As shown in fig. 10, the web 210 has a mounting hole 211 penetrating through the web, and the position of the mounting hole 211 corresponds to the position of the mounting groove on the loading mechanism 100.
As shown in fig. 11, the load may be a cargo box with a tab structure 310 provided on the top of the cargo box. The top of the bump structure 310 is provided with a strip-shaped third conductive sheet for connecting the first conductive sheet and the second conductive sheet on the loading mechanism. The middle region of the bump structure 310 is provided with a pin hole 312 transversely penetrating through the bump structure 310 for penetrating a connecting rod on the loading mechanism, and the bump structure 310 may be trapezoidal. The cargo carrying box can be transformed from a paper box body, and can also be a plastic box body formed by high polymer materials. The cargo box can contain articles therein.
As shown in fig. 12, the loading position on the drone may be the area below the web 210, and the cargo box is considered to be in the loading position when it is placed below the web 210 and its top tab structure 310 passes through the mounting hole 211 of the web into the mounting slot on the loading mechanism 100. After the plug-in mounting is in place, the conducting strip on the boss structure is contacted with the conducting elastic sheet of the loading mechanism; the controller receives the conduction signal, controls the action of the steering engine, and the rack is pinned into the pin hole of the cargo throwing box under the action of the gear to load the cargo. When goods are delivered, the steering engine is controlled to move the rack, the goods fall off, and the conductive elastic sheet is disconnected.
Specific components of the loading mechanism 100 can refer to fig. 2 to 7, and the description related to the corresponding figures above, which are not repeated herein.
According to an embodiment of the present disclosure, the bottom of the web 210 is provided with at least two guide structures 212 for guiding the lade 300 into the loading position; the guide structure 212 includes shock absorbing pads for damping vibrations between the drone 200 and the loaded article 300.
FIG. 13 schematically illustrates a schematic view of a cushion according to an embodiment of the disclosure.
As shown in fig. 10 and 13, four guiding structures 212 are disposed at the bottom of the web 210, and the guiding structures 212 may be composed of a damping ring and screws, the damping ring is an elastic pad of a circular truncated cone, a hole is formed in the middle of the damping ring, the screws penetrate through the damping ring and are screwed into threaded holes of the web 210, and the head of the screws fixes the damping ring. The vibration damping pad may be a rubber pad, a polyurethane pad, or a spring.
As shown in fig. 11 and 12, the top of the cargo box is provided with a guiding hole 320 corresponding to the guiding structure 212, when the cargo box is loaded on the unmanned aerial vehicle, the user only needs to align the guiding structure 212 on the web of the unmanned aerial vehicle and the guiding hole 320 on the cargo box, so that the bump structure 310 of the cargo box can be aligned with the mounting hole 211 on the web of the unmanned aerial vehicle, and the bump structure 310 can be accurately and quickly inserted into the mounting groove of the loading mechanism 100. In addition, after the cargo box is fixed, the damping pad is positioned between the cargo box and the machine body web plate, so that the damping of the cargo box and the machine body web plate can be realized.
Yet another aspect of the present disclosure provides a transport apparatus comprising a cargo box and the drone described above.
According to the embodiment of the present disclosure, a side surface of the cargo box is provided with a guide hole 320 and a bump structure 310; the bump structure 310 is provided with a third conductive sheet 311 and a pin hole 312; the guide hole 320 corresponds to the position of the guide structure 212 at the bottom of the web of the unmanned aerial vehicle; the bump structures 310 correspond in position to the mounting holes 211 on the web of the drone.
Specifically, the cargo box and the unmanned aerial vehicle may specifically refer to fig. 8 to 13, and the description about the corresponding drawings is omitted here for brevity.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.
The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.
Claims (13)
1. A loading mechanism comprising a mount (140), a controller (120), and a transmission mechanism (130), wherein:
the mounting seat (140) is provided with a mounting groove, and a through hole (141) penetrating through the wall surface of the mounting seat is formed in the side wall of the mounting groove;
a sensing device (110) is arranged in the mounting groove, and in the condition that the connecting part of the loaded object enters the mounting groove and triggers the sensing device (110), the sensing device (110) can send a loading signal to the controller (120) so that the controller (120) controls the transmission mechanism (130) to operate according to the loading signal;
the transmission mechanism (130) comprises a power device (131) and a connecting rod (1322), wherein the power device (131) is used for driving the connecting rod (1322) to move towards a first direction under the control of the controller (120), and the connecting rod (1322) is inserted into the mounting groove through the through hole (141) so that the connecting rod (1322) is pinned into the connecting hole of the connected part of the loaded object to be fixed.
2. The mechanism of claim 1, wherein the controller (120) is further configured to receive an unload signal and to control the operation of the transmission mechanism (130) based on the unload signal;
the power device (131) is also used for driving the connecting rod (1322) to move towards the reverse direction of the first direction under the control of the controller (120), so that the connecting rod (1322) is separated from the connecting hole of the loaded object and falls off.
3. The mechanism according to claim 1, wherein said sensing means (110) comprises switching means able to sense the approaching or touching action of the loaded object and send an electric signal to said controller (120) as a loading signal.
4. A mechanism according to claim 3, wherein the switching means comprises a first (111) and a second (112) conductive plate which are not in contact with each other;
the first and second conductive sheets (111, 112) are conductive when the loaded article enters the loading position, and the sensing device (110) sends a conductive electrical signal to the controller (120) as a loading signal.
5. The mechanism of claim 1, wherein:
the transmission mechanism (130) comprises a gear (1321) and a rack, and the rack is used as the connecting rod (1322);
the gear (1321) is connected to the power device (131) and is used for forward rotation or reverse rotation under the action of the power device (131);
the rack is used for moving towards a first direction under the action of the gear (1321) to pin into the connecting hole of the loaded object to fix the loaded object or moving towards the reverse direction of the first direction under the action of the gear (1321) to release the loaded object.
6. The mechanism of claim 1, wherein:
the transmission mechanism (130) comprises a lead screw (1331) and a lead screw nut (1332), and the connecting rod (1322) is arranged on the lead screw nut (1332);
the screw rod (1331) is connected to the power device (131) and used for rotating forwards or backwards under the action of the power device (131), and the screw rod nut (1332) is used for moving towards a first direction under the action of the screw rod (1331) to insert the connecting rod (1322) into a loaded object to be fixed or moving towards the reverse direction of the first direction under the action of the screw rod (1331) to release the loaded object.
7. The mechanism of claim 1, wherein:
the transmission mechanism (130) comprises a slider-crank mechanism, and the connecting rod (1322) is arranged on a slider of the slider-crank mechanism;
the crank-slider mechanism is used for moving the slider to a first direction under the action of the power device (131) so as to pin the connecting rod (1322) into the loaded object to fix the loaded object, or moving the connecting rod (1322) to the reverse direction of the first direction under the action of the power device (131) so as to release the loaded object.
8. The mechanism of claim 1, wherein:
the transmission mechanism (130) comprises a cam (1351) and a push rod, and the push rod is used as the connecting rod (1322);
the cam (1351) is used for rotating under the action of the power device (131), and the push rod is used for moving in a first direction under the action of the cam (1351) to pin in a loaded object to fix the loaded object or moving in a direction opposite to the first direction under the action of the cam (1351) to release the loaded object.
9. A drone comprising a fuselage and a loading mechanism as claimed in any one of claims 1 to 8.
10. The drone of claim 9, wherein:
the fuselage comprising a web (210);
the loading mechanism is arranged above the web (210), and the web (210) is provided with a mounting hole (211) at a position corresponding to the loading mechanism mounting groove, so that the connecting part of the loaded object passes through the mounting hole (211) of the web (210) and enters the mounting groove of the loading mechanism.
11. The drone of claim 9, wherein the web (210) is provided at the bottom with at least two guiding structures (212) for guiding the loaded article into the mounting slot;
the guide structure comprises a shock pad for slowing down the vibration between the unmanned aerial vehicle and the loaded object.
12. A transport apparatus comprising a cargo box and a drone as claimed in any one of claims 9 to 11.
13. The apparatus of claim 12, wherein:
a guide hole (320) and a lug structure (310) are arranged on one side surface of the cargo box;
a third conducting strip (311) and a connecting hole (312) are arranged on the bump structure (310);
the guide hole (320) corresponds to the position of a guide structure (212) at the bottom of the unmanned aerial vehicle web (210);
the bump structures (310) correspond to the positions of the mounting holes (211) in the web (210) of the unmanned aerial vehicle.
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| CN115924083B (en) * | 2023-02-08 | 2024-03-29 | 四川省天域航通科技有限公司 | Large-scale fixed wing freight unmanned aerial vehicle disconnect-type intelligence cargo hold |
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| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
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| CN106005417A (en) * | 2016-07-15 | 2016-10-12 | 杭州迅蚁网络科技有限公司 | Unmanned aircraft airborne cargo hoisting apparatus |
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| CN106892119A (en) * | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
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