CN112660391A - Commodity circulation article special area release system based on many rotors teaching unmanned aerial vehicle - Google Patents
Commodity circulation article special area release system based on many rotors teaching unmanned aerial vehicle Download PDFInfo
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- CN112660391A CN112660391A CN202110042642.8A CN202110042642A CN112660391A CN 112660391 A CN112660391 A CN 112660391A CN 202110042642 A CN202110042642 A CN 202110042642A CN 112660391 A CN112660391 A CN 112660391A
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The invention discloses a logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle, which comprises an unmanned aerial vehicle body, and further comprises a hoisting mechanism, a clamping mechanism, a supporting mechanism, a limiting mechanism, an auxiliary mechanism, a connecting box, a connecting wire and a logistics box, wherein the bottom of the unmanned aerial vehicle body is detachably connected with the opening end face of the connecting box, the hoisting mechanism is connected with the connecting box and arranged in the connecting box, the hoisting mechanism is connected with the clamping mechanism through the connecting wire, the clamping mechanism is used for clamping the logistics box, the hoisting mechanism is used for lifting the clamping mechanism, the limiting mechanism is arranged between the clamping mechanism and the connecting box, the limiting mechanism is used for preventing the clamping mechanism from swinging, the supporting mechanism is arranged below the unmanned aerial vehicle body, and the supporting mechanism is used for supporting the logistics box, so: the articles cannot be put down in a complicated landscape and are easy to fall off due to insufficient restraint when the articles are in the air.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle logistics, in particular to a logistics article special area release system based on a multi-rotor teaching unmanned aerial vehicle.
Background
Many rotor unmanned aerial vehicle is at the logistics distribution in-process, firstly need solve be the safety problem, because many rotor unmanned aerial vehicle often is in personnel living area at the logistics distribution in-process, especially this time the epidemic situation in the closed cell unmanned aerial vehicle's delivery service, especially the place of resident daily activity, and just can stable control after logistics unmanned aerial vehicle's use needs training and study, in order to make the student can learn the skill of operating logistics unmanned aerial vehicle in all kinds of complex environments, just need carry out the real operation study during the teaching in all kinds of complex environments.
Many rotor unmanned aerial vehicle generally takes two kinds of modes snatching (release) article in-process, one is through the space between the comparatively wide undercarriage of ventral ratio, add mechanical grab, let the goods accomodate between the undercarriage, then send to the position and descend, release mechanical grab, the aircraft flies again and leaves, one kind is to carry article to the appointed region and throw, the safety of personnel and article can not be guaranteed to these two kinds of modes, especially to the district, complicated landform such as rural area is unfavorable for the region that unmanned aerial vehicle descends, and unmanned aerial vehicle is when airborne, if meet the sudden situation (for example: meet the air current suddenly, fixture trouble or the electric quantity is not enough), then cause the consequence that article dropped very easily, and then influence student's study, it exists: the articles can not be put down in a complicated landscape and the articles are easy to fall off due to insufficient restraint when being in the air.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the object of the present invention is to: the utility model provides a based on many rotors teaching unmanned aerial vehicle commodity circulation article special area release system has solved the problem that exists among the prior art, if: the articles cannot be put down in a complicated landscape and are easy to fall off due to insufficient restraint when the articles are in the air.
In order to achieve the purpose, the invention provides the following technical scheme:
a logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle comprises an unmanned aerial vehicle body, and further comprises a hoisting mechanism, a clamping mechanism, a supporting mechanism, a limiting mechanism, an auxiliary mechanism, a connecting box, a connecting wire and a logistics box, wherein the bottom of the unmanned aerial vehicle body is detachably connected with the opening end face of the connecting box, the hoisting mechanism is connected with the connecting box and is arranged in the connecting box, the hoisting mechanism is connected with the clamping mechanism through the connecting wire, the clamping mechanism is used for clamping the logistics box, the hoisting mechanism is used for lifting the clamping mechanism, the limiting mechanism is arranged between the clamping mechanism and the connecting box, the limiting mechanism is used for preventing the clamping mechanism from swinging, and the supporting mechanism is arranged below the unmanned aerial vehicle body;
the supporting mechanism comprises supporting legs, connecting rods, a supporting plate and a driving mechanism, one end of each supporting leg is fixedly connected with the connecting box, the supporting legs are four, four supporting legs are arranged on two sides of the connecting box in pairs, the connecting rods are provided with two connecting rods, one is arranged at two ends of the connecting rods, the two ends of the connecting rods are respectively fixedly connected with the other two supporting legs and the other two ends of the connecting rods are respectively fixedly connected with the other two supporting legs and the two connecting rods which are mutually parallel, the two sides of the supporting plate are respectively slidably connected with the two connecting rods, the top end face of the supporting plate is provided with a groove, the groove is used for placing the logistics box, the supporting plate and the two connecting rods are respectively provided with the driving.
Further, the supporting mechanism still includes slide bar and transition pole, the slide bar be equipped with the through-hole of connecting rod adaptation, the slide bar is equipped with two, two the connecting rod set up slidable respectively in two the through-hole of slide bar, the one end fixed connection of transition pole the slide bar side, the other end fixed connection of transition pole one side of backup pad, the transition pole is equipped with four, four the transition pole set up in pairs in the both sides of backup pad.
Further, actuating mechanism includes driving motor, drive gear and rack, the connecting rod is equipped with opening recess up, the rack set up in just fixed connection in the recess the connecting rod, drive gear with rack toothing, drive gear fixed connection the driving motor output shaft, driving motor connects the transition pole.
Furthermore, the clamping mechanism comprises a mounting plate, a driving gear, a driven gear, a clamping motor and two link mechanisms, wherein the driving gear is meshed with the driven gear, one side of the mounting plate is fixedly connected with the clamping motor, an output shaft of the clamping motor is connected with the driving gear, the two link mechanisms are symmetrically arranged, and the two link mechanisms are respectively connected with the driving gear and the driven gear;
the link mechanism comprises a driving rod, a connecting rod, a driven rod, an extension rod and a pressing plate, wherein one end of the driving rod is fixedly connected with the driving gear, the other end of the driving rod is rotatably connected with one end of the connecting rod, the other end of the connecting rod is rotatably connected with one end of the driven rod, the other end of the driven rod is rotatably connected with the mounting plate, the extension rod and the driven rod are both arranged below the driving rod, the connecting rod is far away from one end of the driving rod, fixedly connected with one end of the extension rod, fixedly connected with the other end of the extension rod, the pressing plate and the pressing plate are mutually parallel, two vertical planes are arranged on one sides of the pressing plates relatively, and the pressing plates are used for clamping the logistics boxes.
Further, the automatic transmission device comprises a pawl, a stop block and a self-locking motor, wherein the middle of the pawl is connected with the output end of the self-locking motor, the self-locking motor is fixedly connected with one side of the mounting plate, one wedge-shaped end of the pawl is used for abutting against the driving gear to stabilize two clamping forces between the pressing plates, the other end of the pawl is arranged below the stop block, the stop block is fixedly connected with the mounting plate, and the stop block is used for preventing the pawl from rotating when the pawl abuts against the driving gear.
Further, unmanned aerial vehicle body bottom with connect box opening terminal surface and pass through a plurality of screw connections.
Furthermore, the limiting mechanism comprises a limiting sleeve and a limiting rod, one end of the connecting wire is fixedly connected with one end of the limiting rod, the other end of the limiting rod is fixedly connected with the top of the clamping mechanism, the other end of the connecting wire is connected with the hoisting mechanism, the top of the limiting sleeve is fixedly connected with the bottom of the connecting box, the limiting sleeve is provided with a through hole matched with the limiting rod, the through hole penetrates through the bottom of the connecting box, and the connecting wire is arranged in the through hole.
Furthermore, the connecting wire is a reflective umbrella rope.
Further, complementary unit includes two mesh discernment cameras, loudspeaker and light, unmanned aerial vehicle body fixed connection two mesh discernment cameras loudspeaker with the light.
Compared with the prior art, the invention has the following beneficial effects:
1. place in the recess of backup pad through making the commodity circulation box, its vertical direction can be retrained to its horizontal direction is retrained by stop gear, when the unmanned aerial vehicle body is flying in the air, can guarantee the stability of commodity circulation box, and guarantee commodity circulation box that the backup pad can be fine is not accidentally dropped, has reached dual spacing beneficial effect that drops in order to prevent commodity circulation box under the emergency.
2. Clip the commodity circulation box through fixture, actuating mechanism drive backup pad slides on the connecting rod for the up-and-down motion scope of commodity circulation box can be avoided to the backup pad, then the winding mechanism rolling or put down the connecting wire so that commodity circulation box up-and-down motion, just can put down or snatch article when can making the unmanned aerial vehicle body aerial, need not descend, has reached and also can accomplish the beneficial effect of commodity circulation task at complicated landform.
3. Through pawl wedge end and driving gear butt, the dog blocks the pawl, and two clamp plates can not loosen towards the direction of unclamping the clamping force, have guaranteed the stability of clamping force, have reached the beneficial effect that the commodity circulation box is compressed tightly all the time.
4. Through two mesh discernment cameras, can realize keeping away the barrier automatically, judge the distance automatically, discernment goods is delivered (is snatched) target, provides real-time illumination to the target point through the machine-carried light, and loudspeaker provide the communication of shouting in real time, instructs ground personnel how to place article machinery in real time and grab down, also can in time inform ground personnel when the air current environment appears unusually and keep away from and avoid, has reached the beneficial effect who is applicable to multiple scene.
Drawings
FIG. 1 is an overall structure diagram of a logistics article special area release system of an unmanned aerial vehicle based on multi-rotor teaching according to the invention;
FIG. 2 is a schematic view of the gripper mechanism grasping or dropping the flowbox;
FIG. 3 is a schematic front view of FIG. 2;
FIG. 4 is a schematic view of a clamping mechanism;
FIG. 5 is a schematic rear view of the clamping mechanism;
FIG. 6 is a schematic front view of the clamping mechanism;
FIG. 7 is a schematic top view of the support mechanism;
FIG. 8 is an enlarged view taken at A in FIG. 7;
fig. 9 is a schematic cross-sectional view of a junction box.
List of reference numerals
1-unmanned aerial vehicle body, 2-limiting rod, 3-mounting plate, 4-driving gear, 5-driven gear, 6-pawl, 7-stop block, 8-driving rod, 9-driven rod, 10-connecting rod, 11-extension rod, 12-pressing plate, 13-reinforcing rod, 14-limiting sleeve, 15-connecting wire, 16-clamping motor, 17-self-locking motor, 18-battery box, 19-logistics box, 20-tweeter, 21-binocular recognition camera, 22-supporting leg, 23-connecting rod, 24-sliding rod, 25-supporting plate, 26-transition rod, 27-driving motor, 28-driving gear, 29-connecting box, 30-rack, 31-storage battery, 32-lighting lamp.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to fig. 1 to 9, and it is obvious that the described embodiments are some, not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixedly connected, integrally connected, or detachably connected; may be communication within two elements; they may be directly connected or indirectly connected through an intermediate, and those skilled in the art will understand the specific meaning of the above terms in the present invention in specific situations.
A logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle comprises an unmanned aerial vehicle body 1, and further comprises a hoisting mechanism, a clamping mechanism, a supporting mechanism, a limiting mechanism, an auxiliary mechanism, a connecting box 29, a connecting wire 15 and a logistics box 19, wherein the bottom of the unmanned aerial vehicle body 1 is detachably connected with the opening end face of the connecting box 29, the hoisting mechanism is connected with the connecting box 29 and is arranged in the connecting box 29, the hoisting mechanism is connected with the clamping mechanism through the connecting wire 15, the clamping mechanism is used for clamping the logistics box 19, the hoisting mechanism is used for lifting the clamping mechanism, the limiting mechanism is arranged between the clamping mechanism and the connecting box 29, the limiting mechanism is used for preventing the clamping mechanism from swinging, and the supporting mechanism is arranged below the unmanned aerial vehicle body 1;
the supporting mechanism comprises supporting legs 22, a connecting rod 23, a supporting plate 25 and a driving mechanism, one end of the supporting leg 22 is fixedly connected with the connecting box 29, four supporting legs 22 are arranged on two sides of the connecting box 29 in pairs, two connecting rods 23 are provided, two ends of one connecting rod 23 are respectively and fixedly connected with two supporting legs 22, two ends of the other connecting rod 23 are respectively and fixedly connected with the other two supporting legs 22, the two connecting rods 23 are parallel to each other, two connecting rods 23 are respectively connected with two sides of the supporting plate 25 in a sliding way, a groove is arranged on the top end surface of the supporting plate 25, the groove is used for placing the logistics box 19, the driving mechanism is arranged between the support plate 25 and the two connecting rods 23, and the driving mechanism is used for driving the support plate 25 to slide.
As shown in fig. 1 and 2, the material flow box 19 is clamped by the clamping mechanism, the driving mechanism drives the supporting plate 25 to slide on the connecting rod 23, so that the supporting plate 25 can avoid the up-and-down movement range of the material flow box 19, then the winding mechanism winds up or puts down the connecting wire 15 to enable the material flow box 19 to move up and down, the unmanned aerial vehicle body 1 can put down or grab articles in the air without descending, and the beneficial effect of completing the material flow task in a complex landform is achieved, when the winding mechanism lifts the clamping mechanism to the highest point, the limiting mechanism is matched with the clamping mechanism to limit the horizontal swing of the material flow box 19, when the clamping mechanism is lifted to the highest point, the driving mechanism drives the supporting plate 25 to slide on the connecting rod 23, so that the supporting plate 25 slides to be right below the material flow box 19, then the winding mechanism slightly lowers the connecting wire 15 to enable the material flow box, make commodity circulation box 19 place in the recess of backup pad 25, when commodity circulation box 19 is in the recess, its vertical direction can be retrained to its horizontal direction is retrained by stop gear, when unmanned aerial vehicle body 1 flies in the air, can guarantee commodity circulation box 19's stability, and when unmanned aerial vehicle body 1 meets emergency (for example: meet with the air current suddenly, fixture trouble or electric quantity not enough), the beneficial effect that commodity circulation box 19 dropped under the dual spacing in order to prevent emergency 19 has been reached.
In addition, the hoisting mechanism is the conventional technology in the prior art, is mainly used for connecting the connecting wire 15 to enable the connecting wire to ascend and descend, is provided with a self-locking device, and can be completely realized by a person in the technical field in an installation and connection mode.
Further, the supporting mechanism further comprises a sliding rod 24 and a transition rod 26, the sliding rod 24 is provided with a through hole matched with the connecting rod 23, the sliding rod 24 is provided with two connecting rods 23 which are slidably arranged in the through holes of the two sliding rods 24 respectively, one end of the transition rod 26 is fixedly connected with the side surface of the sliding rod 24, the other end of the transition rod 26 is fixedly connected with one side of the supporting plate 25, the transition rod 26 is provided with four transition rods 26, and the four transition rods 26 are pairwise arranged on two sides of the supporting plate 25.
Further, the driving mechanism comprises a driving motor 27, a driving gear 28 and a rack 30, the connecting rod 23 is provided with a groove with an upward opening, the rack 30 is arranged in the groove and is fixedly connected with the connecting rod 23, the driving gear 28 is meshed with the rack 30, the driving gear 28 is fixedly connected with an output shaft of the driving motor 27, and the driving motor 27 is connected with the transition rod 26.
As shown in fig. 7 and 8, the driving mechanism, the connecting rod 23, the sliding rod 24 and the transition rod 26 are symmetrically arranged on two sides of the supporting plate 25, so as to ensure the stable stress of the supporting plate 25, the driving motor 27 is fixedly connected with the transition rod 26 through the auxiliary connecting block fixedly connected to the side surface, when the driving motor 27 drives the driving gear 28 to rotate, the driving gear 28 is engaged with the rack 30, so that the driving mechanism can drive the sliding rod 24 to slide on the connecting rod 23, and the driving mechanism is provided with two driving mechanisms, so as to ensure the stability of the sliding.
Furthermore, the clamping mechanism comprises a mounting plate 3, a driving gear 4, a driven gear 5, a clamping motor 16 and link mechanisms, wherein the driving gear 4 is meshed with the driven gear 5, one side of the mounting plate 3 is fixedly connected with the clamping motor 16, the output shaft of the clamping motor 16 is connected with the driving gear 4, the link mechanisms are symmetrically arranged, and the two link mechanisms are respectively connected with the driving gear 4 and the driven gear 5;
the link mechanism comprises a driving rod 8, a connecting rod 10, a driven rod 9, an extension rod 11 and a pressing plate 12, one end of the driving rod 8 is fixedly connected with the driving gear 4, the other end of the driving rod 8 is rotatably connected with one end of the connecting rod 10, the other end of the connecting rod 10 is rotatably connected with one end of the driven rod 9, the other end of the driven rod 9 is rotatably connected with the mounting plate 3, the extension rod 11 and the driven rod 9 are both arranged below the driving rod 8, the connecting rod 10 is far away from one end of the driving rod 8 and fixedly connected with one end of the extension rod 11, the other end of the extension rod 11 is fixedly connected with the pressing plate 12, the pressing plate 12 is parallel to each other, the pressing plate 12 is a vertical plane on one side relative to the pressing plate 12, and the pressing plate 12 is used for clamping the logistics box 19.
As shown in fig. 4 and 6, when the driving gear 4 is driven to rotate by the clamping motor 16, the driven gear 5 and the driving rod 8 rotate together, because the driving rod 8, the connecting rod 10, the driven rod 9 and the mounting plate 3 are in a form similar to a four-bar linkage, and when the extension bar 11 and the pressing plate 12 are driven to move by the bottom of the connecting rod 10, because one side of the two pressing plates 12 opposite to each other is a vertical plane, the vertical plane is always kept as a vertical plane when moving, so that the longer pressing plate 12 can better clamp the side surface of the logistics box 19, and the reinforcing rod 13 is further arranged between the pressing plate 12 and the extension bar 11 to ensure the structural strength of the pressing plate 12.
Further, still include pawl 6, dog 7 and self-locking motor 17, 6 middle parts of pawl are connected the output of self-locking motor 17, self-locking motor 17 fixed connection one side of mounting panel 3, pawl 6 is wedge-shaped one end and is used for the butt the driving gear 4 is in order to stabilize two clamp force between the clamp plate 12, the pawl 6 other end set up in dog 7 below, dog 7 fixed connection mounting panel 3, dog 7 is used for pawl 6 with prevent during the driving gear 4 butt pawl 6 rotates.
As shown in fig. 6, two driving rods 8 in the two link mechanisms are respectively and fixedly connected with a driving gear 4 and a driven gear 5, when the driving gear 4 rotates counterclockwise, two pressing plates 12 are close to each other, the wedge-shaped end of the pawl 6 is pulled out, at this time, if the driving gear 4 rotates clockwise, the wedge-shaped end of the pawl 6 abuts against the driving gear 4, and the pawl 6 is blocked by the stopper 7, the driving gear 4 is locked, that is, when the two pressing plates 12 compress the logistics box 19, the wedge-shaped end of the pawl 6 abuts against the driving gear 4, the pawl 6 is blocked by the stopper 7, the two pressing plates 12 cannot be loosened in the direction of loosening the clamping force, so that the stability of the clamping force is ensured, the beneficial effect of maintaining the logistics box 19 to be always compressed is achieved, when the two pressing plates 12 need to be loosened, the self.
In addition, driving gear 4 set up in one side of mounting panel 3, self-locking motor 17 with centre gripping motor 16 all set up in the opposite side of mounting panel 3, self-locking motor 17 with the output shaft of centre gripping motor 16 all passes mounting panel 3, one side that mounting panel 3 kept away from driving gear 4 is connected with battery case 18, be equipped with the battery in the battery case 18, self-locking motor 17 with centre gripping motor 16 all connects the battery.
Further, unmanned aerial vehicle body 1 bottom with connecting box 29 opening terminal surface passes through a plurality of screw connections.
Further, stop gear includes stop collar 14 and gag lever post 2, the one end fixed connection of connecting wire 15 the one end of gag lever post 2, the other end fixed connection of gag lever post 2 the fixture top, the other end of connecting wire 15 is connected hoist mechanism, 14 top fixed connections of stop collar 29 bottom, stop collar 14 be equipped with the through-hole of gag lever post 2 adaptation, the through-hole runs through connecting box 29 bottom, connecting wire 15 set up in the through-hole.
As shown in fig. 3 and 6, when the winding mechanism raises the connecting wire 15 and the clamping mechanism to the highest point, the limiting rod 2 is inserted into the limiting sleeve 14, and because the limiting rod 2 is fixedly connected with the top of the clamping mechanism, i.e. the top of the mounting plate 3, the horizontal direction of the clamping mechanism and the logistics box 19 is restricted, and the beneficial effect of preventing the logistics box 19 from swinging in the horizontal direction is achieved.
Furthermore, the connecting wire 15 is a reflective umbrella rope, and the position of the connecting wire 15 in the space is well marked. And the night recognition is convenient.
Further, the complementary unit includes binocular discernment camera 21, tweeter 20 and light 31, unmanned aerial vehicle body 1 fixed connection binocular discernment camera 21 tweeter 20 with light 31.
Unmanned aerial vehicle body 1 is equipped with wireless control device, and rather than wireless connection have operation controlgear, flies hand control by unmanned aerial vehicle, and wireless control device connects hoist mechanism, two mesh discernment cameras 21 and tweeter 20.
The clamping mechanism is provided with a corresponding wireless controller connected with the wireless control device.
The unmanned aerial vehicle flyer can wirelessly and remotely control the clamping mechanism, the winding mechanism, the binocular recognition camera 21 and the tweeter 20 through operating control equipment, and the installation and connection modes of the clamping mechanism, the winding mechanism, the binocular recognition camera 21 and the tweeter 20 can be completely realized by people in the technical field.
The binocular recognition camera 21 can realize automatic obstacle avoidance, automatically judge the distance and recognize a goods delivery (grabbing) target, and a large target in the early stage can be positioned by a GPS (global positioning system) to plan a route for the unmanned aerial vehicle to fly away from the current sky; real-time illumination of the target points is provided by the onboard illumination lamps 31; the tweeter 20 provides real-time shouting communication, instructs ground personnel how to place the object under mechanical grab in real time, and can inform the ground personnel to keep away from and avoid in time when the airflow environment is abnormal, thereby achieving the beneficial effect of being applicable to various scenes.
In conclusion, the actual working process is as follows: in the initial place, when the unmanned aerial vehicle body 1 is not in operation, the unmanned aerial vehicle body 1 is placed on the ground through the supporting legs 22, related personnel put materials into the logistics box 19, as shown in fig. 1, at the moment, the unmanned aerial vehicle body 1 is in the initial state, then the unmanned aerial vehicle body 1 is lifted to the air and arrives at the destination, after the materials arrive, as shown in fig. 2, the driving mechanism enables the supporting plate 25 to slide out of the vertical movement range of the logistics box 19, the winding mechanism starts to release the connecting line 15, the length of the winding mechanism is 10-15 meters, after the logistics box 19 is placed on the ground, the clamping mechanism is controlled to release the logistics box 19, similarly, when the goods need to be re-grabbed, an unmanned aerial vehicle operator operates the clamping mechanism to grab the goods through the onboard binocular recognition camera 21, then controls the winding mechanism to lift the connecting line 15 and the logistics box 19, and when the goods are, and then controlling the winding mechanism to slightly lower the logistics box 19 to be placed in the groove of the supporting plate 25.
In addition, the clamping motor 16, the self-locking motor 17 and the driving motor 27 are all steering engines, so that the characteristic of portability and easy remote control is more suitable for the invention.
The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments in the above-described embodiments, and various simple modifications can be made to the technical solution of the present invention within the technical idea of the present invention, and these simple modifications are within the protective scope of the present invention. It should be noted that the various technical features described in the above embodiments can be combined in any suitable manner without contradiction, and the invention is not described in any way for the possible combinations in order to avoid unnecessary repetition. In addition, any combination of the various embodiments of the present invention is also possible, and the same should be considered as the disclosure of the present invention as long as it does not depart from the spirit of the present invention.
Claims (9)
1. A logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle comprises an unmanned aerial vehicle body (1) and is characterized by further comprising a hoisting mechanism, a clamping mechanism, a supporting mechanism, a limiting mechanism, an auxiliary mechanism, a connecting box (29), a connecting line (15) and a logistics box (19), wherein the bottom of the unmanned aerial vehicle body (1) is detachably connected with the opening end face of the connecting box (29), the hoisting mechanism is connected with the connecting box (29) and arranged in the connecting box (29), the hoisting mechanism is connected with the clamping mechanism through the connecting line (15), the clamping mechanism is used for clamping the logistics box (19), the hoisting mechanism is used for lifting the clamping mechanism, the limiting mechanism is arranged between the clamping mechanism and the connecting box (29), and the limiting mechanism is used for preventing the clamping mechanism from swinging, the supporting mechanism is arranged below the unmanned aerial vehicle body (1);
the supporting mechanism comprises supporting legs (22), connecting rods (23), supporting plates (25) and a driving mechanism, one end of each supporting leg (22) is fixedly connected with the connecting box (29), the number of the supporting legs (22) is four, the four supporting legs (22) are arranged on two sides of the connecting box (29) in pairs, the number of the connecting rods (23) is two, two ends of one connecting rod (23) are respectively and fixedly connected with two supporting legs (22), the other two ends of the other connecting rod (23) are respectively and fixedly connected with the other two supporting legs (22), the two connecting rods (23) are parallel to each other, two sides of each supporting plate (25) are respectively and slidably connected with the two connecting rods (23), a groove is formed in the end face of the top of each supporting plate (25), the groove is used for placing the logistics boxes (19), and the driving mechanism is arranged between each supporting plate (25) and the two connecting rods, the driving mechanism is used for driving the supporting plate (25) to slide.
2. The logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle is characterized in that the supporting mechanism further comprises a sliding rod (24) and a transition rod (26), the sliding rod (24) is provided with a through hole matched with the connecting rod (23), the sliding rod (24) is provided with two, the two connecting rods (23) are respectively slidably arranged in the through holes of the two sliding rods (24), one end of the transition rod (26) is fixedly connected to the side surface of the sliding rod (24), the other end of the transition rod (26) is fixedly connected to one side of the supporting plate (25), the transition rod (26) is provided with four, and the four transition rods (26) are pairwise arranged on two sides of the supporting plate (25).
3. The logistics goods special area release system based on multi-rotor teaching unmanned aerial vehicle is characterized in that the driving mechanism comprises a driving motor (27), a driving gear (28) and a rack (30), the connecting rod (23) is provided with a groove with an upward opening, the rack (30) is arranged in the groove and is fixedly connected with the connecting rod (23), the driving gear (28) is meshed with the rack (30), the driving gear (28) is fixedly connected with an output shaft of the driving motor (27), and the driving motor (27) is connected with the transition rod (26).
4. The logistics goods special area release system based on multi-rotor teaching unmanned aerial vehicle is characterized in that the clamping mechanism comprises a mounting plate (3), a driving gear (4), a driven gear (5), a clamping motor (16) and a link mechanism, the driving gear (4) is meshed with the driven gear (5), one side of the mounting plate (3) is fixedly connected with the clamping motor (16), an output shaft of the clamping motor (16) is connected with the driving gear (4), the link mechanism is provided with two parts which are symmetrically arranged, and the two link mechanisms are respectively connected with the driving gear (4) and the driven gear (5);
the connecting rod mechanism comprises a driving rod (8), a connecting rod (10), a driven rod (9), an extension rod (11) and pressing plates (12), one end of the driving rod (8) is fixedly connected with the driving gear (4), the other end of the driving rod (8) is rotatably connected with one end of the connecting rod (10), the other end of the connecting rod (10) is rotatably connected with one end of the driven rod (9), the other end of the driven rod (9) is rotatably connected with the mounting plate (3), the extension rod (11) and the driven rod (9) are both arranged below the driving rod (8), one end of the connecting rod (10), far away from the driving rod (8), is fixedly connected with one end of the extension rod (11), the other end of the extension rod (11) is fixedly connected with the pressing plates (12), and the two pressing plates (12) are parallel to each other, one opposite side of each of the two pressing plates (12) is a vertical plane, and the logistics boxes (19) are clamped between the two pressing plates (12).
5. The logistics special area release system based on multi-rotor teaching unmanned aerial vehicle is characterized by further comprising a pawl (6), a stop block (7) and a self-locking motor (17), wherein the middle of the pawl (6) is connected with the output end of the self-locking motor (17), the self-locking motor (17) is fixedly connected with one side of the mounting plate (3), one wedge-shaped end of the pawl (6) is used for abutting against the driving gear (4) to stabilize the clamping force between the two pressing plates (12), the other end of the pawl (6) is arranged below the stop block (7), the stop block (7) is fixedly connected with the mounting plate (3), and the stop block (7) is used for preventing the pawl (6) from rotating when the pawl (6) abuts against the driving gear (4).
6. The logistics article zone release system based on multi-rotor teaching unmanned aerial vehicle is characterized in that the bottom of the unmanned aerial vehicle body (1) is connected with the opening end face of the connecting box (29) through a plurality of screws.
7. The logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle is characterized in that the limiting mechanism comprises a limiting sleeve (14) and a limiting rod (2), one end of a connecting wire (15) is fixedly connected with one end of the limiting rod (2), the other end of the limiting rod (2) is fixedly connected with the top of the clamping mechanism, the other end of the connecting wire (15) is connected with the hoisting mechanism, the top of the limiting sleeve (14) is fixedly connected with the bottom of the connecting box (29), the limiting sleeve (14) is provided with a through hole matched with the limiting rod (2), the through hole penetrates through the bottom of the connecting box (29), and the connecting wire (15) is arranged in the through hole.
8. The multi-rotor teaching unmanned aerial vehicle-based logistics article zone release system of claim 1, wherein the connecting line (15) is a reflective umbrella rope.
9. The system of claim 1, wherein the auxiliary mechanism comprises a binocular recognition camera (21), a tweeter (20) and a lighting lamp (31), and the unmanned aerial vehicle body (1) is fixedly connected with the binocular recognition camera (21), the tweeter (20) and the lighting lamp (31).
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