CN111792255A - Wisdom warehouse auxiliary operation unmanned aerial vehicle gets puts device with goods - Google Patents
Wisdom warehouse auxiliary operation unmanned aerial vehicle gets puts device with goods Download PDFInfo
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- CN111792255A CN111792255A CN202010688262.7A CN202010688262A CN111792255A CN 111792255 A CN111792255 A CN 111792255A CN 202010688262 A CN202010688262 A CN 202010688262A CN 111792255 A CN111792255 A CN 111792255A
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- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000000903 blocking effect Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000012856 packing Methods 0.000 claims description 22
- 238000005192 partition Methods 0.000 claims description 21
- 238000000034 method Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 10
- 238000012423 maintenance Methods 0.000 abstract description 3
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
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Abstract
The invention relates to the field of intelligent warehouse unmanned aerial vehicles, in particular to a goods taking and placing device for an intelligent warehouse auxiliary operation unmanned aerial vehicle, which comprises a taking and placing container fixed at the bottom of the unmanned aerial vehicle, wherein a taking and placing window is arranged on one side of the taking and placing container, a blocking mechanism used for blocking the taking and placing window is arranged at the top of the taking and placing container, a push-pull mechanism and a clamping mechanism are arranged inside the taking and placing container, the clamping mechanism is used for clamping goods, the push-pull mechanism is in transmission connection with the clamping mechanism and is used for taking and placing the goods, the clamping mechanism is in transmission connection with the blocking mechanism, and a loading and unloading mechanism used for loading and unloading the goods is arranged at the bottom of the. This kind of wisdom warehouse auxiliary operation is goods for unmanned aerial vehicle gets puts device, realizes taking out or placing on goods shelves goods from goods shelves, and whole process easy operation compares in driven jacking equipment, simplifies the structure, and it is nimble convenient to use, has improved the space utilization in warehouse, reduces equipment cost, is convenient for maintain the maintenance moreover.
Description
Technical Field
The invention relates to the field of intelligent warehouse unmanned aerial vehicles, in particular to a goods taking and placing device for an intelligent warehouse auxiliary operation unmanned aerial vehicle.
Background
With the development of modern logistics technology, intelligent equipment is applied to the field of storage in succession. Because of the shortage of space resources, therefore warehouse goods shelves can be designed very high generally, so that high space is efficiently utilized, some warehouses with higher intelligent levels have applied an intelligent checking unmanned aerial vehicle to realize material checking operation, so that the manpower is greatly reduced to check goods, but the high space can bring the problem of difficulty in taking and placing goods, the traditional lifting equipment for taking and placing goods is high in cost during construction, large in occupied space resources, difficult in maintenance and repair, heavy in structure, and therefore the unmanned aerial vehicle can be used for taking and placing goods in the high altitude, and in view of the above, the device for taking and placing goods for the unmanned aerial vehicle for assisting operation of the intelligent warehouse is provided.
Disclosure of Invention
The invention aims to provide a goods taking and placing device for an intelligent warehouse auxiliary operation unmanned aerial vehicle, which aims to solve the problems in the background technology. In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a wisdom warehouse auxiliary operation unmanned aerial vehicle gets and puts device with goods, including fixing the packing box of getting in unmanned aerial vehicle bottom, the bottom surface of getting and putting the packing box is fixed with a plurality of landing legs, one side of getting and putting the packing box has gets and puts the window, and the top of getting and putting the packing box is provided with the blocking mechanism that is used for carrying out the blocking to getting and putting the window of getting and putting the packing box, the inside of getting and putting the packing box is provided with push-and-pull mechanism and fixture, fixture is used for the centre gripping goods, and push-and-pull mechanism is connected with the fixture transmission and is used for getting the goods and put, fixture is connected with the blocking mechanism transmission, the bottom.
Preferably, fixture includes the grip slipper, and the grip slipper can be in getting and put the packing box and slide, the orientation of grip slipper get inside one side of packing box and be fixed with polygon pole one, polygon pole one is connected with two sliders through the mode of pegging graft, and the slider can slide on polygon pole one.
Preferably, the orientation of grip slipper get inside one side of packing box and seted up the spout, and the trend of spout is parallel to each other with many arriss pole one, and the middle part of spout is fixed with the drive box, and drive box inside is fixed with the biax motor, and two output shaft ends of biax motor all are fixed with the screw rod, and the screw thread on two screw rods revolves to opposite, and sliding connection has two splint in the spout, and two splint are located the both sides of drive box respectively, and splint and corresponding screw rod threaded connection are fixed with touch switch one on the lateral wall of drive box, and touch switch one can support the knot with the goods and contact.
Preferably, the push-pull mechanism comprises a plurality of scissor rod sets which are sequentially connected side by side, a first support is fixed in the middle of the inner side of the pick-and-place container, a hinge shaft of the scissor rod set close to the first support is fixed on the first support, two ends of a first end of the scissor rod set on the first support are respectively fixedly connected with a first connecting rod in a fixed-axis rotating mode, the two first connecting rods are respectively fixedly connected with a piston rod end and a cylinder body end of the air cylinder, and two ends of a second end of the scissor rod set close to the clamping seat are respectively rotatably connected with the two sliding block fixed-axis.
Preferably, a partition plate is fixed on the inner wall of the container taking and placing body, the partition plate is located on the right side of the first support, a sliding rod is arranged in the middle of the partition plate and penetrates through the partition plate, the sliding rod can slide in the partition plate, the first end of the sliding rod is connected with two second connecting rods in a fixed-axis rotating mode, the two second connecting rods are respectively connected with the connecting rod fixed-axis in a rotating mode, a balance block is arranged inside the container taking and placing body and can slide in the container taking and placing body, the balance block is located between the partition plate and the side wall of the container taking and placing body, the second end of the sliding rod is fixedly connected with the balance block, a second touch switch is fixed on the side wall of the partition plate, facing the balance block, a third touch switch is fixed on.
Preferably, the blocking mechanism comprises a baffle for blocking a taking and placing window for taking and placing the container, and the upper end part of the baffle is in fixed-axis rotating connection with the outer side wall of the taking and placing window for taking and placing the container.
Preferably, the upper surface of the container is fixedly provided with a guide sleeve and a convex block, the inside of the guide sleeve is connected with a first rack in a sliding mode, the first end of the first rack is hinged to the upper end of the baffle through a third connecting rod, the second end of the first rack is connected with the convex block through a first spring, the inner side of the top wall of the container is rotatably connected with a gear in a dead axle mode, the upper end of the gear is meshed with the first rack and is connected with a second rack, and the upper surface of the clamping seat is fixedly provided with a second rack which can be meshed with the lower.
Preferably, the loading and unloading mechanism comprises a hanging rod which is fixed on the bottom surface of the loading and unloading container and is vertically and downwards arranged, the upper end and the lower end of the hanging rod are respectively in fixed-shaft rotating connection with the first ends of a fifth connecting rod and a sixth connecting rod, the second ends of the fifth connecting rod and the sixth connecting rod are respectively in fixed-shaft rotating connection with the upper end and the lower end of the fourth connecting rod, a bearing plate is fixed at the upper end of the fourth connecting rod, a through hole corresponding to the bearing plate is formed in a bottom plate of the loading and unloading container, a turbine is fixed at the first end of the sixth connecting rod.
Preferably, the loading and unloading mechanism further comprises a sleeve and a second support, the sleeve and the second support are fixed on the bottom surface of the container, a vertical downward worm is connected to the inner side dead axle of the sleeve in a rotating mode, the worm is meshed with the worm wheel and connected with the worm, a cylindrical cavity penetrating through the middle axis is formed in the worm, a rotary disc is fixed at the lower end of the worm, a linear through hole is formed in the center of the rotary disc, a twist rod is connected in the through hole in a sliding mode, the upper end of the twist rod is connected with the bottom surface of the container, a second multi-edge rod is fixed at the lower end of the twist rod, an upper limiting plate and a lower limiting plate are respectively fixed at the upper end and the lower end of the second multi-edge rod, the second support is in an inverted L shape, the second multi-edge rod penetrates through the horizontal section of the second support, the second multi-edge rod can slide up and down on the horizontal section of.
Preferably, the double-shaft motor further comprises a controller, the signal input end of the controller is electrically connected with the first touch switch, the second touch switch and the third touch switch respectively, and the signal output end of the controller is electrically connected with the cylinder and the double-shaft motor respectively.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the push-pull mechanism drives the clamping mechanism to take out or place the goods from or on the goods shelf, the opening and closing of the blocking mechanism are driven in the process of taking and placing the goods by the clamping mechanism, and then the goods are unloaded from or loaded into the goods taking and placing box by the loading and unloading mechanism.
Drawings
FIG. 1 is a top view of the first cross-sectional structure of the final assembly of the present invention;
FIG. 2 is a schematic view of the cross-sectional structure A-A of FIG. 1;
FIG. 3 is a second top view of the cross-sectional structure of the final assembly of the present invention;
FIG. 4 is a first schematic view of the cross-sectional structure B-B in FIG. 3;
FIG. 5 is a schematic view of a clamping mechanism according to the present invention;
FIG. 6 is a schematic view of a turntable structure according to the present invention;
fig. 7 is a schematic view of a cross-sectional structure B-B in fig. 3.
In the figure: 1. picking and placing a container; 2. a first bracket; 3. a scissor lever group; 4. a slider; 5. a clamping seat; 6. a splint; 7. a first polygonal rod; 8. a first touch switch; 9. a screw; 10. a first connecting rod; 11. a cylinder; 12. a second connecting rod; 13. a slide bar; 14. a partition plate; 15. a second touch switch; 16. a counterbalance; 17. a third touch switch; 18. a double-shaft motor; 19. a bump; 20. a first spring; 21. a first rack; 22. a guide sleeve; 23. a third connecting rod; 24. a baffle plate; 25. a second rack; 26. a gear; 27. a support leg; 28. a support plate; 29. a connecting rod IV; 30. a fifth connecting rod; 31. a boom; 32. a connecting rod six; 33. a turbine; 34. a turntable; 35. a twisted rod; 36. an upper limiting plate; 37. a second polygonal rod; 38. a lower limiting plate; 39. a sleeve; 40. a worm; 41. a second spring; 42. a second bracket; 43. a port; 44. a drive cartridge; 45. a chute.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by workers skilled in the art without any inventive work based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1 to 7, the present invention provides a technical solution: the utility model provides a wisdom warehouse auxiliary operation unmanned aerial vehicle gets puts device with goods, including fixing the container 1 of getting of unmanned aerial vehicle bottom, the bottom surface of getting and putting container 1 is fixed with a plurality of landing legs 27, one side of getting and putting container 1 has the window of getting and puts, and the top of getting and putting container 1 is provided with the blocking mechanism that is used for carrying out the blocking to getting and putting the window of getting and putting container 1, the inside of getting and putting container 1 is provided with push-and-pull mechanism and fixture, fixture is used for the centre gripping goods, and push-and-pull mechanism is connected with the fixture transmission and is used for getting and put the goods, fixture is connected with the blocking mechanism transmission, the bottom of getting and putting container 1 is provided with the loading and.
In this embodiment, fixture includes grip slipper 5, and grip slipper 5 can be in getting and put packing box 1 internal slipping, grip slipper 5 orientation get and put packing box 1 inside one side and be fixed with polygon pole one 7, be connected with two sliders 4 through the mode of pegging graft on the polygon pole one 7, and slider 4 can slide on polygon pole one 7.
In this embodiment, the orientation of holder 5 get and put outside one side of packing box 1 and seted up spout 45, and spout 45's trend is parallel to each other with polygon pole 7, and the middle part of spout 45 is fixed with drive box 44, and drive box 44 is inside to be fixed with double-shaft motor 18, and two output shaft ends of double-shaft motor 18 all are fixed with screw rod 9, and the screw thread on two screw rods 9 revolves to opposite, and sliding connection has two splint 6 in spout 45, and two splint 6 is located the both sides of drive box 44 respectively, and splint 6 and the screw rod 9 threaded connection who corresponds are fixed with touch switch 8 on the lateral wall of drive box 44, and touch switch 8 can support the knot with the goods and contact.
In this embodiment, the push-pull mechanism includes a plurality of scissor rod sets 3 connected in parallel in sequence, a first bracket 2 is fixed at the middle of the inner side of the pick-and-place container 1, a hinge shaft of the scissor rod set 3 close to the first bracket 2 is fixed on the first bracket 2, two ends of a first end of the scissor rod set 3 on the first bracket 2 are respectively connected with a first connecting rod 10 in a fixed-axis rotation manner, as shown in fig. 1 and 3, the scissor rod set 3 on the first bracket 2 is the rightmost scissor rod set 3, and the first end of the scissor rod set 3 is the right end of the scissor rod set 3 in fig. 1 and 3, the two first connecting rods 10 are respectively and fixedly connected with a piston rod end and a cylinder end of the cylinder 11, two ends of a second end of the scissor rod set 3 close to the clamping seat 5 are respectively connected with two sliders 4 in a fixed-axis rotation manner, as shown in fig. 1 and 3, the scissor rod set 3 close to the clamping seat 5 is the leftmost scissor rod set 3, and the second end of the scissors lever set 3 is the left end of the scissors lever set 3 in fig. 1 and 3.
In this embodiment, a partition 14 is fixed on the inner wall of the pick-and-place container 1, the partition 14 is located on the right side of the first support 2, a sliding rod 13 is disposed in the middle of the partition 14, the sliding rod 13 penetrates through the partition 14, the sliding rod 13 can slide in the partition 14, a first end of the sliding rod 13 is connected with two second connecting rods 12 in a fixed-axis rotation manner, the two second connecting rods 12 are respectively connected with the first connecting rod 10 in a fixed-axis rotation manner, a balance weight 16 is disposed inside the pick-and-place container 1, the balance weight 16 can slide in the pick-and-place container 1, the balance weight 16 is located between the partition 14 and the side wall of the pick-and-place container 1, a second end of the sliding rod 13 is fixedly connected with the balance weight 16, a second touch switch 15 is fixed on the side wall of the partition 14 facing the balance weight 16, a third touch switch 17 is fixed on the, the first and second ends of the slide bar 13 refer to the left and right ends of the slide bar 13 in fig. 1 and 3, respectively.
In this embodiment, the blocking mechanism includes a baffle 24 for blocking the pick-and-place window for picking and placing the container 1, and the upper end of the baffle 24 is connected to the outer side wall of the pick-and-place window for picking and placing the container 1 in a fixed-axis rotation manner.
In this embodiment, a guide sleeve 22 and a projection 19 are fixed on the upper surface of the pick-and-place container 1, a first rack 21 is slidably connected inside the guide sleeve 22, a first end of the first rack 21 is hinged to the upper end of a baffle 24 through a third connecting rod 23, a second end of the first rack 21 is connected with the projection 19 through a first spring 20, a gear 26 is fixedly connected to the inner side of the top wall of the pick-and-place container 1 in a fixed-axis rotating manner, the upper end of the gear 26 is connected with the first rack 21 in a meshing manner, a second rack 25 is fixed on the upper surface of the clamping seat 5, and the second rack 25 can be connected with the lower end of, under the condition that the first rack 21 is not subjected to external force, the first spring 20 exerts tension on the first rack 21, so that the first rack 21 pulls the baffle 24 to be opened through the third connecting rod 23, the left end opening of the pick-and-place container 1 is not blocked, and the first end and the second end of the rack I21 refer to the left end and the right end of the rack I21 in the figures 2 and 4 respectively.
In this embodiment, the loading and unloading mechanism includes a boom 31 fixed on the bottom surface of the loading and unloading container 1 and vertically arranged downwards, the upper and lower ends of the boom 31 are respectively connected with the first ends of a five link 30 and a six link 32 in a fixed-axis rotating manner, the second ends of the five link 30 and the six link 32 are respectively connected with the upper and lower ends of a four link 29 in a fixed-axis rotating manner, the upper end of the four link 29 is fixed with a support plate 28, a through hole 43 corresponding to the support plate 28 is formed in the bottom plate of the loading and unloading container 1, the upper surface of the support plate 28 can be flush with the inner bottom surface of the loading and unloading container 1, the first end of the six link 32 is fixed with a turbine 33, the five link 30 and the six link 32 have the same length and are arranged in parallel to each other, and the first end and the second end of the five link 30 and the six link.
In the embodiment, the assembling and disassembling mechanism further comprises a sleeve 39 and a second bracket 42 which are fixed on the bottom surface of the loading and disassembling box 1, the inner side of the sleeve 39 is fixedly and axially connected with a worm 40 which is vertically and downwards arranged, the worm 40 is meshed with the worm wheel 33, the inner part of the worm 40 is a cylindrical cavity which is through along the central axis, the lower end of the worm 40 is fixed with a turntable 34, the center of the turntable 34 is provided with a straight through hole, and a twist rod 35 is connected in the through hole in a sliding way, the upper end of the twist rod 35 is connected with the bottom surface of the picking and placing container 1 through a second spring 41, a second multi-edge rod 37 is fixed at the lower end of the twist rod 35, an upper limiting plate 36 and a lower limiting plate 38 are respectively fixed at the upper end and the lower end of the second multi-edge rod 37, a second bracket 42 is in an inverted L shape, and the second polygon bar 37 penetrates through the horizontal section of the second bracket 42, the second polygon bar 37 can slide up and down on the horizontal section of the second bracket 42, and the upper limiting plate 36 and the lower limiting plate 38 can be in abutting contact with the horizontal section of the second bracket 42.
In this embodiment, the double-shaft motor further comprises a controller, wherein a signal input end of the controller is electrically connected with the first touch switch 8, the second touch switch 15 and the third touch switch 17 respectively, and a signal output end of the controller is electrically connected with the cylinder 11 and the double-shaft motor 18 respectively.
The use method and the advantages of the invention are as follows: this kind of wisdom warehouse auxiliary operation is goods for unmanned aerial vehicle gets puts device when getting of carrying out the goods, and the working process is as follows:
when the goods need to be taken out of the shelf: the pick-and-place container 1 is driven by the unmanned aerial vehicle to fly to a corresponding goods position on a warehouse shelf, as shown in fig. 7, the baffle plate 24 is used for blocking the left end of the pick-and-place container 1, in this state, the bearing plate 28 is positioned at the through hole 43, the upper limiting plate 36 is in abutting contact with the horizontal section of the bracket II 42, the air cylinder 11 is controlled by the controller to work, the air cylinder 11 is used for driving the two connecting rods I10 to be close to each other by contracting the piston rod of the air cylinder 11, as shown in fig. 1 and 2, so that the length of the scissor rod group 3 in the horizontal direction in fig. 1 is increased, the clamping seat 5 is pushed out to the left outside of the pick-and-place container 1 by the sliding block 4 and the multi-edge rod I7, the rack II 25 is driven to move to the left while the clamping seat 5 moves to move to the left, the rack II 25 is used for driving the rack I21 to move to the right by the gear, wherein the first spring 20 is used for keeping applying a pulling force on the first rack 21 when the second rack 25 is not meshed with the gear 26, so as to ensure that the baffle 24 is not blocked at the left end opening of the pick-and-place container 1, the clamping seat 5 moves leftwards to be close to the corresponding goods on the warehouse shelf, when the goods touches the first touch switch 8, the first touch switch 8 receives a touch signal of the goods and transmits the signal to the controller, the controller controls the double-shaft motor 18 to work, the double-shaft motor 18 drives the two screw rods 9 to synchronously rotate after working, so as to drive the two clamping plates 6 to mutually approach and clamp the goods under the action of screw transmission, and simultaneously the controller controls the air cylinder 11 to extend out of a piston rod thereof, as shown in fig. 3, so that the two first connecting rods 10 are mutually far away, so that the length of the scissor rod group 3 in the horizontal direction in fig. 3 is shortened, and further the clamping seat 5 is moved towards the inside of the right side of, synchronous moving rack two 25 moves to the right when grip slipper 5 moves to the right, drive the goods through splint 6 when getting inside putting packing box 1 when grip slipper 5, rack two 25 just meshes with gear 26 this moment, and drive rack one 21 through gear 26 and move to the left, thereby make rack one 21 promote baffle 24 through connecting rod three 23 and carry out the block to the left end opening of getting putting packing box 1, avoid the goods to drop from getting the left end opening roll-off of putting packing box 1 at unmanned aerial vehicle flight in-process, thereby ensure the operation safety.
As mentioned above, in the process that the cylinder 11 pushes the holder 5 to move leftwards through the scissor lever assembly 3 to clamp the goods, the included angle between the two connecting rods two 12 is reduced by the mutual approach of the two connecting rods one 10, as shown in fig. 1, so that the right thrust is applied to the sliding rod 13 through the connecting rod two 12, and the balance weight 16 is pushed to move rightwards through the sliding rod 13, thereby playing a balance role in the process that the holder 5 clamps the goods, avoiding instability of the unmanned aerial vehicle body due to uneven weight distribution, and ensuring the stability of the unmanned aerial vehicle when taking the goods, the balance weight 16 can be replaced by a battery of the unmanned aerial vehicle, so as to reduce the weight of the unmanned aerial vehicle body, simplify the unmanned aerial vehicle structure, increase the load-carrying capacity, in the process that the cylinder 11 pulls the holder 5 for clamping the goods to move rightwards through the scissor lever assembly 3, and simultaneously, the included angle between the two connecting rods two, as shown in fig. 3, thereby exert the pulling force left to slide bar 13 through two connecting rods 12, and then promote the balancing piece 16 through slide bar 13 and move left, thereby play the balancing act to grip slipper 5 in the in-process of getting the goods and getting into to put the packing box 1 inside, when two 15 of balancing piece 16 touch switch support the knot contact, push-and-pull mechanism resets this moment, grip slipper 5 presss from both sides and gets the goods and just on bearing board 28, two 15 touch switch export the contact signal of balancing piece 16 to the controller, controller control cylinder stop work, and control biax motor 18 reverse work, thereby drive two splint 6 through screw rod 9 and keep away from each other and reset, loosen the goods, so as to unload the goods.
After the clamping mechanism clamps the goods and enters the pick-and-place container, the pick-and-place container 1 is driven by the remote control unmanned aerial vehicle to fall back to the ground, as shown in fig. 4, the lower limiting plate 38 abuts against the ground and receives an upward acting force applied by the ground, so that the second polygonal rod 37 drives the second twisted rod 35 to rotate, the second twisted rod 35 compresses the second spring 41 to obtain a restoring force, meanwhile, the upward movement of the second twisted rod 35 applies a torque to the side wall of the through hole on the turntable 34 through the spiral surface of the second twisted rod, so that the turntable 34 drives the worm 40 to rotate, the worm 40 drives the turbine 33 to rotate clockwise, the turbine 33 drives the sixth connecting rod 32 to rotate clockwise, the fourth connecting rod 29 and the bearing plate 28 are driven to move downwards through the sixth connecting rod 32 and the fifth connecting rod 30, so that the goods are unloaded from the pick-and-place container 1, and the goods, The five connecting rods 30, the six connecting rods 32 and the hanger rods 31 form a parallel four-connecting-rod mechanism, and the four connecting rods 29 can keep the shape unchanged when the bearing plate 28 is driven to unload materials according to the motion characteristics of the parallel four-connecting-rod mechanism, so that the situation that the materials incline and fall off and break from the bearing plate 28 in the unloading process is prevented.
When goods need to be placed on the shelf: as shown in fig. 4, the goods to be placed are placed on the support plate 28, and then are raised to the target position of the shelf by the remote control unmanned aerial vehicle, after the unmanned aerial vehicle drives the pick-and-place container 1 to rise, the lower limiting plate 38 is separated from the ground and is not contacted with the ground, so that the lower limiting plate 38 is not influenced by the reaction force of the ground, the twist rod 35 moves downwards under the action of the downward restoring force of the second spring 41, so that the twist rod 35 applies reverse torque to the side wall of the through hole on the turntable 34 through the spiral surface of the twist rod, so that the turntable 34 drives the worm 40 to rotate reversely, and further the worm 40 drives the worm wheel 33 to rotate counterclockwise, so that the worm wheel 33 drives the link six 32 to rotate counterclockwise, thereby driving the four connecting rods 29 and the supporting plate 28 to move upwards and return through the six connecting rods 32 and the five connecting rods 30, and the support plate 28 is positioned in the through opening 43, so that the goods are loaded into the pick-and-place container 1.
When the unmanned aerial vehicle drives the pick-and-place container 1 to fly to a corresponding goods place on a warehouse shelf, as shown in fig. 1 and fig. 2, the double-shaft motor 18 and the air cylinder 11 are controlled by the controller to work, so that the double-shaft motor 18 drives the two screw rods 9 to synchronously rotate, the two clamping plates 6 are driven to approach each other to clamp the goods under the action of screw transmission, meanwhile, the air cylinder 11 drives the two connecting rods 10 to approach each other by contracting the piston rods of the air cylinder 11, so that the length of the scissor-fork rod group 3 in the horizontal direction in fig. 1 is lengthened, the clamping base 5 is pushed out towards the left outer part of the pick-and-place container 1 by the sliding block 4 and the multi-edge rod 7, the rack two 25 is synchronously moved towards the left while the clamping base 5 moves towards the left, the rack two 25 drives the rack one 21 to move towards the right by the gear 26, so that the rack one 21 drives the, the clamping seat 5 drives the goods to move towards the position corresponding to the warehouse shelf to approach, in the process that the air cylinder 11 pushes the clamping seat 5 to move leftwards to clamp the goods through the scissor rod group 3, the included angle of the two connecting rods two 12 is driven to be reduced through the mutual approach of the two connecting rods one 10, as shown in figure 1, the pushing force towards the right is exerted on the sliding rod 13 through the connecting rods two 12, the balance block 16 is pushed to move rightwards through the sliding rod 13, the clamping seat 5 is balanced in the process that the clamped goods approach the warehouse shelf, when the balance block 16 is in abutting contact with the touch switch three 17, the touch switch three 17 receives a touch signal of the balance block 16 and transmits the signal to the controller, the controller controls the double-shaft motor 18 to work, the double-shaft motor 18 drives the two screw rods 9 to synchronously rotate after working, so that the two clamping plates 6 are driven to move away from each other to loosen the clamped goods under the, meanwhile, the controller controls the cylinder 11 to extend out of a piston rod thereof, as shown in fig. 3, the two first connecting rods 10 are far away from each other, so that the length of the scissor rod group 3 in the horizontal direction in fig. 3 is shortened, the clamping seat 5 is moved towards the inside of the right side of the pick-and-place container 1 through the slider 4 and the first multi-edge rod 7, the rack two 25 is synchronously moved towards the right while the clamping seat 5 moves towards the right, when the clamping seat 5 completely enters the inside of the pick-and-place container 1, the rack two 25 is just meshed with the gear 26, and the rack one 21 is driven to move towards the left through the gear 26, so that the rack one 21 pushes the baffle 24 to block the left end opening of the pick-and-place container 1 through the third connecting rod 23, after the goods are placed on the goods shelf, the unmanned aerial vehicle falls back to the ground for the next operation, the whole process realizes the taking out of the goods from the goods shelf, the equipment cost is reduced, and the maintenance and the repair are convenient.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a wisdom warehouse auxiliary operation unmanned aerial vehicle gets puts device with goods, gets packing box (1) including fixing getting of unmanned aerial vehicle bottom, the bottom surface of getting packing box (1) is fixed with a plurality of landing legs (27), its characterized in that: the container taking and placing device is characterized in that a taking and placing window is arranged on one side of the container taking and placing body (1), a blocking mechanism used for blocking the taking and placing window used for taking and placing the container (1) is arranged at the top of the container taking and placing body (1), a push-pull mechanism and a clamping mechanism are arranged inside the container taking and placing body (1), the clamping mechanism is used for clamping goods, the push-pull mechanism is in transmission connection with the clamping mechanism and used for taking and placing the goods, the clamping mechanism is in transmission connection with the blocking mechanism, and a loading and unloading mechanism used for loading and unloading the goods is arranged at the bottom of the container taking and placing body (1).
2. The device as claimed in claim 1, wherein the device comprises: fixture includes grip slipper (5), and grip slipper (5) can be in getting and put packing box (1) and slide, grip slipper (5) orientation get and put packing box (1) inside one side and be fixed with many arriss pole (7), be connected with two slider (4) through the mode of pegging graft on many arriss pole (7), and slider (4) can slide on many arriss pole (7).
3. The device as claimed in claim 2, wherein the device comprises: the utility model discloses a packing box, including centre gripping seat (5), get and put packing box (1) outside one side and seted up spout (45), and the trend of spout (45) is parallel to each other with many arriss pole one (7), the middle part of spout (45) is fixed with drive box (44), drive box (44) inside is fixed with double-shaft motor (18), two output shaft ends of double-shaft motor (18) all are fixed with screw rod (9), and the screw thread on two screw rods (9) is revolved to opposite, sliding connection has two splint (6) in spout (45), and two splint (6) are located the both sides of drive box (44) respectively, splint (6) and screw rod (9) threaded connection who corresponds, be fixed with touch switch one (8) on the lateral wall of drive box (44), and touch switch one (8) can support with the goods and detain the contact.
4. The device as claimed in claim 3, wherein the device comprises: the push-pull mechanism comprises a plurality of scissor rod sets (3) which are sequentially connected side by side, a first support (2) is fixed in the middle of the inner side of the container (1), a hinge shaft of the scissor rod set (3) close to the first support (2) is fixed on the first support (2), two ends of the first end of the scissor rod set (3) on the first support (2) are respectively and fixedly connected with a first connecting rod (10) in a rotating mode, the two first connecting rods (10) are respectively and fixedly connected to the end of a piston rod and the end of a cylinder body of an air cylinder (11), and two ends of the second end of the scissor rod set (3) close to a clamping seat (5) are respectively and rotatably connected with two sliding blocks (4) in a fixed mode.
5. The device as claimed in claim 4, wherein the device comprises: a partition plate (14) is fixed on the inner wall of the pick-and-place container (1), the partition plate (14) is located on the right side of the first support (2), a sliding rod (13) is arranged in the middle of the partition plate (14), the sliding rod (13) penetrates through the partition plate (14), the sliding rod (13) can slide in the partition plate (14), the first end of the sliding rod (13) is fixedly and axially connected with two second connecting rods (12), the two second connecting rods (12) are respectively and axially and rotatably connected with the first connecting rod (10), a balance block (16) is arranged inside the pick-and-place container (1), the balance block (16) can slide in the pick-and-place container (1), the balance block (16) is located between the partition plate (14) and the side wall of the pick-and-place container (1), the second end of the sliding rod (13) is fixedly connected with the balance block (16), and a touch switch second (15) is fixed on the side, a third touch switch (17) is fixed on the inner side of the side wall, facing the balance block (16), of the pick-and-place container (1), and the balance block (16) can be respectively in abutting contact with the second touch switch (15) and the third touch switch (17).
6. The device as claimed in claim 3, wherein the device comprises: the blocking mechanism comprises a baffle (24) for blocking a pick-and-place window for picking and placing the container (1), and the upper end part of the baffle (24) is in fixed-shaft rotating connection with the outer side wall of the pick-and-place window for picking and placing the container (1).
7. The device as claimed in claim 6, wherein the device comprises: the upper surface of the picking and placing container (1) is fixed with a guide sleeve (22) and a convex block (19), the inside of the guide sleeve (22) is connected with a first rack (21) in a sliding mode, the first end of the first rack (21) is hinged to the upper end of a baffle (24) through a third connecting rod (23), the second end of the first rack (21) is connected with the convex block (19) through a first spring (20), the inner side of the top wall of the picking and placing container (1) is connected with a gear (26) in a fixed-axis rotating mode, the upper end of the gear (26) is connected with the first rack (21) in a meshed mode, the upper surface of a clamping seat (5) is fixed with a second rack (25), and the second rack (25) can be connected with the lower end of the gear.
8. The device as claimed in claim 3, wherein the device comprises: the loading and unloading mechanism comprises a hanging rod (31) which is fixed on the bottom surface of the pick-and-place container (1) and vertically arranged downwards, the upper end and the lower end of the hanging rod (31) are respectively connected with the first ends of a connecting rod five (30) and a connecting rod six (32) in a fixed-shaft rotating mode, the second ends of the connecting rod five (30) and the connecting rod six (32) are respectively connected with the upper end and the lower end of a connecting rod four (29) in a fixed-shaft rotating mode, a bearing plate (28) is fixed to the upper end of the connecting rod four (29), through holes (43) corresponding to the bearing plate (28) are formed in the bottom plate of the pick-and-place container (1), a turbine (33) is fixed to the first end of the connecting rod six (32), and the connecting rod five.
9. The device of claim 8, wherein the device comprises: the loading and unloading mechanism further comprises a sleeve (39) and a second support (42) which are fixed on the bottom surface of the loading and unloading container (1), wherein a worm (40) which is vertically and downwards arranged is rotatably connected to the inner side fixed shaft of the sleeve (39), the worm (40) is meshed with the turbine (33) and connected with the turbine, a cylindrical cavity which is communicated along the central axis is formed inside the worm (40), a turntable (34) is fixed at the lower end of the worm (40), a linear through hole is formed in the center of the turntable (34), a twisted rod (35) is slidably connected in the through hole, the upper end of the twisted rod (35) is connected with the bottom surface of the loading and unloading container (1) through a second spring (41), a second multi-edge rod (37) is fixed at the lower end of the twisted rod (35), an upper limiting plate (36) and a lower limiting plate (38) are respectively fixed at the upper end and the lower end of the second multi-edge rod (37), and the second support (42), and the second multi-edge rod (37) penetrates through the horizontal section of the second support (42), the second multi-edge rod (37) can slide up and down on the horizontal section of the second support (42), and both the upper limiting plate (36) and the lower limiting plate (38) can be in abutting contact with the horizontal section of the second support (42).
10. The device as claimed in claim 6, wherein the device comprises: the double-shaft motor controller is characterized by further comprising a controller, wherein a signal input end of the controller is electrically connected with the first touch switch (8), the second touch switch (15) and the third touch switch (17) respectively, and a signal output end of the controller is electrically connected with the air cylinder (11) and the double-shaft motor (18) respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010688262.7A CN111792255A (en) | 2020-07-16 | 2020-07-16 | Wisdom warehouse auxiliary operation unmanned aerial vehicle gets puts device with goods |
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| CN202010688262.7A CN111792255A (en) | 2020-07-16 | 2020-07-16 | Wisdom warehouse auxiliary operation unmanned aerial vehicle gets puts device with goods |
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| CN113147168A (en) * | 2021-04-13 | 2021-07-23 | 苏州市正名印刷科技有限公司 | Printing-based paper jam preventing device for adhesive sticker label and using method thereof |
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| CN114084668A (en) * | 2022-01-21 | 2022-02-25 | 中国科学院自动化研究所 | Loading and unloading manipulator and loading and unloading device |
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| CN114803420A (en) * | 2022-05-31 | 2022-07-29 | 杭州电子科技大学 | Unmanned aerial vehicle freight transportation system capable of achieving automatic loading and unloading of cargos |
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