CN112660391B - Logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle - Google Patents
Logistics article special area release system based on multi-rotor teaching unmanned aerial vehicle Download PDFInfo
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- CN112660391B CN112660391B CN202110042642.8A CN202110042642A CN112660391B CN 112660391 B CN112660391 B CN 112660391B CN 202110042642 A CN202110042642 A CN 202110042642A CN 112660391 B CN112660391 B CN 112660391B
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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
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention discloses a logistics object special area release system based on a 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 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, the supporting mechanism is arranged below the unmanned aerial vehicle body, and the supporting mechanism is used for supporting the logistics box, so that the technical problems in the prior art are solved, such as: the articles cannot be put down in complex topography 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
The utility model provides a many rotor unmanned aerial vehicle is at logistics distribution in-process, at first need solve safety problem, because many rotor unmanned aerial vehicle often is in personnel's living area in logistics distribution in-process, especially the delivery service of unmanned aerial vehicle in this epidemic situation period sealed district, more resident's daily activity's place, and just can stable control after logistics unmanned aerial vehicle's use needs training and study, in order to make the learner can learn the skill of operation logistics unmanned aerial vehicle in all kinds of complex environments, just need to carry out the real study in all kinds of complex environments during the teaching.
The multi-rotor unmanned aerial vehicle generally adopts two modes in the process of grabbing (releasing) objects, one mode is that a mechanical grab is additionally arranged through a space between landing gears with a relatively large belly, the objects are contained between the landing gears, then the landing gears are lowered after the goods are delivered to the positions, the mechanical grab is released, the aircraft flies away, the objects are carried to a designated area for throwing, the two modes cannot ensure the safety of personnel and the objects, particularly, the areas where complex landforms such as communities and rural areas are unfavorable for the landing of the unmanned aerial vehicle are not guaranteed, and when the unmanned aerial vehicle is in the air, if sudden conditions (such as sudden air flow, clamping mechanism faults or insufficient electric quantity) are encountered, the falling effect of the objects is easily caused, and the learning of students is influenced, wherein the unmanned aerial vehicle has the following problems: the technical problems that the articles cannot be put down in complex landforms and the articles are not restrained enough in the air and are easy to fall off.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, the present invention aims at: the utility model provides a based on many rotor teaching unmanned aerial vehicle commodity circulation article special area release system, solved the problem that exists among the prior art, if: the articles cannot be put down in complex topography and are easy to fall off due to insufficient restraint when the articles are in the air.
In order to achieve the above object, the present invention provides the following technical solutions:
the utility model provides a based on many rotor teaching unmanned aerial vehicle commodity circulation article special area release system, includes the unmanned aerial vehicle body, still includes hoist mechanism, fixture, supporting mechanism, stop gear, auxiliary mechanism, junction box, connecting wire and commodity circulation box, unmanned aerial vehicle body bottom detachably connects junction box opening terminal surface, hoist mechanism connect junction box and set up in the junction box, hoist mechanism with connect through the connecting wire between the fixture, fixture is used for the centre gripping commodity circulation box, hoist mechanism is used for going up and down fixture, stop gear set up in between fixture with the junction box, stop gear is used for preventing fixture swings, supporting mechanism set up in unmanned aerial vehicle body below;
the supporting mechanism comprises supporting legs, connecting rods, supporting plates and a driving mechanism, one ends of the supporting legs are fixedly connected with the connecting box, the four supporting legs are arranged on the four supporting legs in pairs, the two sides of the connecting box are provided with two connecting rods, one supporting leg is fixedly connected with the two supporting legs respectively, the other supporting leg is fixedly connected with the other two supporting legs respectively, the two connecting rods are parallel to each other, the two sides of the supporting plates are respectively connected with the two connecting rods in a sliding mode, a groove is formed in the end face of the top of the supporting plate and used for placing the logistics box, the driving mechanism is arranged between the supporting plate and the two connecting rods and used for driving the supporting plate to slide.
Further, the supporting mechanism further comprises a sliding rod and transition rods, the sliding rod is provided with through holes matched with the connecting rods, the sliding rod is provided with two connecting rods, the connecting rods are respectively slidably arranged at the two through holes of the sliding rod, one end of each transition rod is fixedly connected with the side face of the sliding rod, the other end of each transition rod is fixedly connected with one side of the supporting plate, the transition rods are provided with four transition rods, and the four transition rods are arranged on two sides of the supporting plate in pairs.
Further, actuating mechanism includes driving motor, drive gear and rack, the connecting rod is equipped with the recess that the opening was up, the rack set up in the recess and fixed connection the connecting rod, drive gear with the rack meshing, drive gear fixed connection driving motor output shaft, driving motor connects the transition pole.
Further, the clamping mechanism comprises a mounting plate, a driving gear, a driven gear, a clamping motor and a connecting rod mechanism, 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 connecting rod mechanism is provided with two symmetrically arranged connecting rod mechanisms, and the two connecting rod mechanisms are respectively connected with the driving gear and the driven gear;
the connecting rod 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, one end of the connecting rod, which is far away from the driving rod, is fixedly connected with one end of the extension rod, the other end of the extension rod is fixedly connected with the pressing plate, the two pressing plates are mutually parallel, one sides of the two pressing plates, which are opposite, are vertical planes, and the two pressing plates are used for clamping the logistics box.
Further, still include pawl, dog and self-locking motor, the pawl middle part is connected the self-locking motor output, self-locking motor fixed connection one side of mounting panel, the pawl is wedge one end be used for the butt driving gear in order to stabilize two clamping force between the clamp plate, the pawl other end set up in the dog below, dog fixed connection the mounting panel, the dog is used for the pawl with prevent when the driving gear butt the pawl rotates.
Further, unmanned aerial vehicle body bottom with connect box opening terminal surface and pass through a plurality of screw connection.
Further, stop gear includes stop collar and gag lever post, the one end fixed connection of connecting wire the one end of gag lever post, the other end fixed connection of gag lever post the fixture top, the other end of connecting wire is connected hoist mechanism, stop collar top fixed connection connect the box bottom, the stop collar be equipped with the through-hole of gag lever post adaptation, the through-hole runs through connect the box bottom, the connecting wire set up in the through-hole.
Further, the connecting line is a reflective umbrella rope.
Further, the auxiliary mechanism comprises a binocular identification camera, a tweeter and an illuminating lamp, and the unmanned aerial vehicle body is fixedly connected with the binocular identification camera, the tweeter and the illuminating lamp.
Compared with the prior art, the invention has the following beneficial effects:
1. through making commodity circulation box place in the recess of backup pad, its vertical direction can be restrained to its horizontal direction is restrained by stop gear, when unmanned aerial vehicle body flies in the sky, can guarantee the stability of commodity circulation box, the backup pad can be fine guarantee that commodity circulation box is not unexpected to drop, has reached double spacing in order to prevent the beneficial effect that commodity circulation box dropped under the emergency.
2. The logistics box is clamped by the clamping mechanism, the driving mechanism drives the supporting plate to slide on the connecting rod, so that the supporting plate can avoid the vertical movement range of the logistics box, then the winding mechanism winds or puts down the connecting wire to enable the logistics box to move up and down, the unmanned aerial vehicle body can put down or grab articles in the air without falling, and the beneficial effect that logistics tasks can be completed even in complex landforms is achieved.
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 loosening the clamping force, have guaranteed the stability of clamping force, have reached the beneficial effect that keeps the commodity circulation box to be compressed tightly all the time.
4. Through binocular recognition camera, can realize the automation and keep away the barrier, automatic judgement distance, discernment goods delivery (snatch) target provides real-time illumination through the airborne light to the target point, and the tweeter provides real-time communication of shouting, instructs the ground personnel in real time how to place the machinery with the article and grabs down, also can in time inform the ground personnel to keep away from when the air current environment appears unusual, has reached the beneficial effect that is applicable to multiple scene.
Drawings
FIG. 1 is a diagram showing the whole structure of a logistics object special area release system based on a multi-rotor teaching unmanned aerial vehicle;
FIG. 2 is a schematic view of the gripping mechanism gripping or lowering a logistics box;
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 view of a back view of the clamping mechanism;
FIG. 6 is a schematic front view of a clamping mechanism;
FIG. 7 is a schematic top view of a support mechanism;
FIG. 8 is an enlarged schematic view of FIG. 7 at A;
fig. 9 is a schematic cross-sectional view of a junction box.
List of reference numerals
The unmanned aerial vehicle comprises a 1-unmanned aerial vehicle body, a 2-limit rod, a 3-mounting plate, a 4-driving gear, a 5-driven gear, a 6-pawl, a 7-stop block, a 8-driving rod, a 9-driven rod, a 10-connecting rod, a 11-extension rod, a 12-pressing plate, a 13-reinforcing rod, a 14-limit sleeve, a 15-connecting wire, a 16-clamping motor, a 17-self-locking motor, a 18-battery box, a 19-logistics box, a 20-tweeter, a 21-binocular identification camera, a 22-supporting leg, a 23-connecting rod, a 24-sliding rod, a 25-supporting plate, a 26-transition rod, a 27-driving motor, a 28-driving gear, a 29-connecting box, a 30-rack, a 31-storage battery and a 32-illuminating lamp.
Detailed Description
The technical solutions of the present invention will be clearly and completely described below with reference to fig. 1 to 9, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "front", "rear", "inner", "outer", etc., are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to 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 explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, integrally connected, or detachably connected; may be a communication between the interiors of two elements; may be directly or indirectly through an intermediate medium, and the specific meaning of the terms in the present invention will be understood by those skilled in the art in specific cases.
The utility model provides a logistics object special area release system based on many rotor teaching unmanned aerial vehicle, includes unmanned aerial vehicle body 1, still includes hoist mechanism, fixture, supporting mechanism, stop gear, auxiliary mechanism, junction box 29, connecting wire 15 and commodity circulation box 19, unmanned aerial vehicle body 1 bottom detachably connects junction box 29 open end face, hoist mechanism connect junction box 29 and set up in junction box 29, hoist mechanism with connect through connecting wire 15 between the fixture, the fixture is used for the centre gripping commodity circulation box 19, hoist mechanism is used for going up and down fixture, stop gear set up in between fixture and the junction box 29, stop gear is used for preventing fixture swings, supporting mechanism set up in unmanned aerial vehicle body 1 below;
the supporting mechanism comprises supporting legs 22, connecting rods 23, supporting plates 25 and a driving mechanism, one ends of the supporting legs 22 are fixedly connected with the connecting boxes 29, the four supporting legs 22 are arranged on the four supporting legs 22 in pairs, the two sides of the connecting boxes 29 are provided with the two connecting rods 23, one of the two ends of the connecting rods 23 is fixedly connected with the two supporting legs 22 respectively, the other one of the two ends of the connecting rods 23 is fixedly connected with the other two supporting legs 22 respectively, the two connecting rods 23 are parallel to each other, the two sides of the supporting plates 25 are slidably connected with the two connecting rods 23 respectively, grooves are formed in the top end faces of the supporting plates 25 and are used for accommodating the logistics boxes 19, driving mechanisms are arranged between the supporting plates 25 and the two connecting rods 23, and the driving mechanism is used for driving the supporting plates 25 to slide.
As shown in fig. 1 and 2, the clamping mechanism clamps the logistics box 19, 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-down movement range of the logistics box 19, then the winding mechanism winds up or puts down the connecting wire 15 to enable the logistics box 19 to move up and down, the unmanned aerial vehicle body 1 can put down or grab objects in the air without falling, the beneficial effects that logistics tasks can be completed in complex landforms are achieved, when the winding mechanism lifts the clamping mechanism to the highest point, the limiting mechanism is matched with the clamping mechanism, the swing of the logistics box 19 in the horizontal direction is limited, when the clamping mechanism lifts 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 the right below the logistics box 19, then the winding mechanism slightly puts down the connecting wire 15 to enable the logistics box 19 to slightly descend, the logistics box 19 is placed in the groove of the supporting plate 25, the logistics box 19 is restrained in the groove, the vertical direction of the unmanned aerial vehicle body is not required to fall, the horizontal direction of the limiting mechanism is restrained, the limiting mechanism can guarantee the logistics box 19 in the air-borne by the air, the stable body of the unmanned aerial vehicle body 1 can be guaranteed, and the sudden falling of the unmanned aerial vehicle body 19 can not fall down in the sudden situation, the sudden situation can be prevented, the sudden falling of the logistics box 19 can be prevented, the sudden falling of the sudden situation can be avoided, and the sudden falling of the logistics box 19 can be prevented, and the sudden situation can be caused, and the accident situation can be avoided, and the accident situation can be caused, and the situation can be well, and the accident situation can be caused, and the situations can be not be well, and the situations can be caused and the situations can be not be the situations.
In addition, the hoisting mechanism is a conventional technology, and is mainly used for connecting the connecting wire 15 to enable the connecting wire to ascend and descend, and is provided with a self-locking device, and the installation and connection mode of the hoisting mechanism can be completely realized by a person skilled in the art, so that the invention does not relate to the transformation of the hoisting mechanism and is not repeated.
Further, the supporting mechanism further comprises a slide bar 24 and a transition bar 26, the slide bar 24 is provided with through holes matched with the connecting bars 23, the slide bar 24 is provided with two connecting bars 23 which are respectively slidably arranged at the two through holes of the slide bar 24, one end of the transition bar 26 is fixedly connected with the side face of the slide bar 24, the other end of the transition bar 26 is fixedly connected with one side of the supporting plate 25, the transition bar 26 is provided with four transition bars 26, and the four transition bars 26 are arranged at two sides of the supporting plate 25 in pairs.
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 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 that the supporting plate 25 is stable in stress, the driving motor 27 is fixedly connected with the transition rod 26 through an auxiliary connecting block fixedly connected with the side surface, and when the driving motor 27 drives the driving gear 28 to rotate, the driving gear 28 is meshed with the rack 30, so that the driving mechanism drives the sliding rod 24 to slide on the connecting rod 23, and the driving mechanism is provided with two sliding stability.
Further, the clamping mechanism comprises a mounting plate 3, a driving gear 4, a driven gear 5, a clamping motor 16 and a connecting rod mechanism, 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, an output shaft of the clamping motor 16 is connected with the driving gear 4, the connecting rod mechanism is symmetrically arranged, and the two connecting rod 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 a pressing plate 12, wherein 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 extension rod 11, which is fixedly connected with one end of the extension rod 11, of the connecting rod 10 is far away from one end of the driving rod 8, the other end of the extension rod 11 is fixedly connected with the pressing plate 12, the two pressing plates 12 are parallel to each other, one side of each of the two pressing plates 12 opposite to each other is a vertical plane, and the two pressing plates 12 are used for clamping the logistics box 19.
As shown in fig. 4 and 6, when the clamping motor 16 drives the driving gear 4 to rotate, 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 four connecting rods, when the bottom of the connecting rod 10 drives the extension rod 11 and the pressing plate 12 to move, as the opposite sides of the two pressing plates 12 are vertical planes, the vertical planes are always kept to be vertical planes when moving, so that the longer pressing plate 12 can better clamp the side surface of the logistics box 19, and a reinforcing rod 13 is further arranged between the pressing plate 12 and the extension rod 11 to ensure the structural strength of the pressing plate 12.
Further, still include pawl 6, dog 7 and self-locking motor 17, the pawl 6 middle part is connected self-locking motor 17 output, self-locking motor 17 fixed connection one side of mounting panel 3, pawl 6 is wedge-shaped one end be used for the butt driving gear 4 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 when 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 anticlockwise, two pressing plates 12 are close to each other, the wedge-shaped end of a pawl 6 is pulled out, at the moment, if the driving gear 4 rotates clockwise, the wedge-shaped end of the pawl 6 is abutted with the driving gear 4, a stop block 7 stops the pawl 6, and the driving gear 4 is locked, namely, when the two pressing plates 12 press a logistics box 19, the pawl 6 is abutted with the driving gear 4 through the wedge-shaped end of the pawl 6, the stop block 7 stops the pawl 6, the two pressing plates 12 cannot be loosened towards the direction of loosening the clamping force, so that the stability of the clamping force is ensured, the beneficial effect of keeping the logistics box 19 pressed all the time is achieved, and when the two pressing plates 12 need to be loosened, a self-locking motor 17 rotates the pawl 6 to enable the wedge-shaped end of the pawl 6 to be separated from the driving gear 4.
In addition, the 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 is connected the battery.
Further, the bottom of the unmanned aerial vehicle body 1 is connected with the opening end face of the connection box 29 through a plurality of screws.
Further, the 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, stop collar 14 top fixed connection connect box 29 bottom, stop collar 14 be equipped with the through-hole of gag lever post 2 adaptation, the through-hole runs through connect box 29 bottom, connecting wire 15 set up in the through-hole.
As shown in fig. 3 and 6, when the hoisting mechanism lifts the connecting line 15 and the clamping mechanism to the highest point, the stop lever 2 is inserted in the stop collar 14, and because the stop lever 2 is fixedly connected to the top of the clamping mechanism, i.e., the top of the mounting plate 3, the clamping mechanism and the horizontal direction of the logistics box 19 are restrained, thereby achieving the beneficial effect of preventing the logistics box 19 from swinging in the horizontal direction.
Further, the connecting line 15 is a reflective umbrella rope, so that the position of the connecting line 15 in space is well marked. And the night recognition is convenient.
Further, the auxiliary mechanism comprises a binocular identification camera 21, a tweeter 20 and an illuminating lamp 31, and the unmanned aerial vehicle body 1 is fixedly connected with the binocular identification camera 21, the tweeter 20 and the illuminating lamp 31.
The unmanned aerial vehicle body 1 is provided with a wireless control device, and is in wireless connection with operation control equipment, and is controlled by an unmanned aerial vehicle flying hand, and the wireless control device is connected with a hoisting mechanism, a binocular recognition camera 21 and a tweeter 20.
The clamping mechanism is provided with a corresponding wireless controller connected with the wireless control device.
The unmanned aerial vehicle fly can wirelessly and remotely control the clamping mechanism, the winding mechanism, the binocular recognition camera 21 and the tweeter 20 through the operation control equipment, and the mutual installation and connection modes thereof can be completely realized by the person skilled in the art, and the invention does not relate to the transformation of the unmanned aerial vehicle fly and is not repeated.
The binocular recognition camera 21 can realize automatic obstacle avoidance, automatic distance judgment and recognition of goods delivery (grabbing) targets, and the early-stage large targets can be positioned by a GPS to carry out route planning on the unmanned aerial vehicle and fly away from the current upper air; providing real-time illumination of the target point by the onboard illumination lamp 31; the tweeter 20 provides real-time megaphone communication, and guides ground personnel in real time how to grasp the article placing machine, and also can inform the ground personnel to keep away from and avoid in time when the airflow environment is abnormal, so that the beneficial effect suitable for various scenes is achieved.
In summary, the actual working process is as follows: at the initial place, when the unmanned aerial vehicle body 1 does not work, it is placed on the ground through the supporting legs 22, the related personnel put the goods into the logistics box 19, as shown in fig. 1, at this time, the unmanned aerial vehicle body 1 is in the initial state, then the unmanned aerial vehicle body 1 rises to the sky and reaches the destination, after arriving, as shown in fig. 2, the actuating mechanism makes the backup pad 25 slide out of the upper and lower motion range of logistics box 19, the hoist mechanism begins to release connecting wire 15, release length 10-15 meters, after logistics box 19 is placed on the ground, control clamping mechanism loosen logistics box 19, similarly, when needing to grasp goods again, unmanned aerial vehicle operating personnel operate clamping mechanism through airborne binocular recognition camera 21, grasp goods, then when controlling hoist mechanism to rise connecting wire 15 and logistics box 19, when rising to the highest point, control actuating mechanism makes backup pad 25 slide to logistics box 19 below, then control hoist mechanism slightly put down logistics box 19, make it put in the recess of backup pad 25 can.
In addition, the clamping motor 16, the self-locking motor 17 and the driving motor 27 are steering engines, and the characteristics of light weight and easy remote control are more suitable for the invention.
The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the specific details of the embodiments in the above description, and various simple modifications can be made to the technical solutions of the present invention within the scope of the technical concept of the present invention, and all the simple modifications belong to the protection scope of the present invention. In addition, the specific features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various possible combinations are not described further. Moreover, any combination of the various embodiments of the invention can be made without departing from the spirit of the invention, which should also be considered as disclosed herein.
Claims (5)
1. The utility model provides a unmanned aerial vehicle commodity circulation article special area release system based on many rotor teaching, includes unmanned aerial vehicle body (1), its characterized in that still includes hoist mechanism, fixture, supporting mechanism, stop gear, auxiliary mechanism, junction box (29), connecting wire (15) and commodity circulation box (19), unmanned aerial vehicle body (1) bottom detachably connects junction box (29) open end face, hoist mechanism connect junction box (29) and set up in junction box (29), hoist mechanism with connect through connecting wire (15) between the fixture, fixture is used for the centre gripping commodity circulation box (19), hoist mechanism is used for going up and down fixture, stop gear set up in between fixture with junction box (29), stop gear is used for preventing fixture swings, supporting mechanism set up in unmanned aerial vehicle body (1) below.
The support mechanism comprises support legs (22), connecting rods (23), support plates (25) and a driving mechanism, one ends of the support legs (22) are fixedly connected with the connecting box (29), four support legs (22) are arranged on two sides of the connecting box (29) in pairs, two connecting rods (23) are arranged on two sides of the connecting box, two ends of one connecting rod (23) are respectively fixedly connected with two support legs (22), the other two ends of the other connecting rod (23) are respectively fixedly connected with the other two support legs (22), the two connecting rods (23) are parallel to each other, two sides of the support plate (25) are respectively connected with two connecting rods (23) in a sliding mode, grooves are formed in the end faces of the top of the support plates (25), the grooves are used for placing logistics boxes (19), and the driving mechanism is arranged between the support plates (25) and the two connecting rods (23) and is used for driving the support plates (25) to slide;
the supporting mechanism further comprises sliding rods (24) and transition rods (26), the sliding rods (24) are provided with through holes matched with the connecting rods (23), the two sliding rods (24) are provided with two connecting rods (23) which are respectively and slidably arranged on the through holes of the two sliding rods (24), one ends of the transition rods (26) are fixedly connected with the side surfaces of the sliding rods (24), the other ends of the transition rods (26) are fixedly connected with one side of the supporting plate (25), the transition rods (26) are provided with four, and the four transition rods (26) are arranged on two sides of the supporting plate (25) in pairs;
the driving mechanism comprises a driving motor (27), a driving gear (28) and a rack (30), wherein 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);
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, stop collar (14) top fixed connection connecting box (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.
2. The logistics object special area release system based on the multi-rotor teaching unmanned aerial vehicle, according to claim 1, 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 connecting rod mechanism, 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), an output shaft of the clamping motor (16) is connected with the driving gear (4), the connecting rod mechanism is provided with two symmetrically arranged connecting rod mechanisms, and the two connecting rod 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 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 all arranged below the driving rod (8), one end of the extension rod (11) is fixedly connected with one end of the driving rod (8), the other end of the extension rod (11) is fixedly connected with the pressing plate (12), the two pressing plates (12) are parallel to each other, one side opposite to each other is a vertical plane, and the two opposite sides of the pressing plate (12) are used for clamping a logistics box (19).
3. The logistics object special area release system based on the multi-rotor teaching unmanned aerial vehicle according to claim 2, further comprising a pawl (6), a stop block (7) and a self-locking motor (17), wherein the middle part 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 being abutted 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) is abutted against the driving gear (4).
4. The logistics object special area release system based on the multi-rotor teaching unmanned aerial vehicle, according to claim 1, wherein 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.
5. A multi-rotor teaching unmanned aerial vehicle-based logistics object special area release system according to claim 1, wherein the auxiliary mechanism comprises a binocular identification camera (21), a tweeter (20) and an illuminating lamp (31), and the unmanned aerial vehicle body (1) is fixedly connected with the binocular identification camera (21), the tweeter (20) and the illuminating lamp (31).
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