CN116946571B - Unmanned aerial vehicle storage device for unmanned aerial vehicle logistics distribution system - Google Patents
Unmanned aerial vehicle storage device for unmanned aerial vehicle logistics distribution systemInfo
- Publication number
- CN116946571B CN116946571B CN202311011464.8A CN202311011464A CN116946571B CN 116946571 B CN116946571 B CN 116946571B CN 202311011464 A CN202311011464 A CN 202311011464A CN 116946571 B CN116946571 B CN 116946571B
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- plate
- centering
- movable plate
- clamping
- transfer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D85/00—Containers, packaging elements or packages, specially adapted for particular articles or materials
- B65D85/68—Containers, packaging elements or packages, specially adapted for particular articles or materials for machines, engines or vehicles in assembled or dismantled form
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/04—Partitions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/02—Internal fittings
- B65D25/10—Devices to locate articles in containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D25/00—Details of other kinds or types of rigid or semi-rigid containers
- B65D25/38—Devices for discharging contents
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D43/00—Lids or covers for rigid or semi-rigid containers
- B65D43/14—Non-removable lids or covers
- B65D43/16—Non-removable lids or covers hinged for upward or downward movement
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
本发明涉及物流运输技术领域，提供了一种用于无人机物流配送系统的无人机存放装置，无人机搭载有吊舱，无人机存放装置包括本体、活动板、移动机构、翻转板以及转移机构。本发明提供的无人机存放装置通过设置具有存放腔的本体，能够利用存放腔存放单架无人机及其吊舱，从而有望减小单架无人机及其吊舱所占用的空间，与此同时，通过设置能够移动至存放腔外的活动板以及相对于活动板可枢转的翻转板，并配合用于将无人机及其吊舱由翻转板转移至活动板上或由活动板转移至翻转板上的转移机构，使得单架搭载有吊舱的无人机能够直接回收至该装置内或从该装置上放飞，进而最终使得单辆地面载具能够装载更多的无人机和物品。
This invention relates to the field of logistics and transportation technology, and provides a drone storage device for a drone logistics delivery system. The drone is equipped with a pod, and the drone storage device includes a main body, a movable plate, a moving mechanism, a flipping plate, and a transfer mechanism. The drone storage device provided by this invention, by setting a main body with a storage cavity, can store a single drone and its pod, thereby potentially reducing the space occupied by a single drone and its pod. Simultaneously, by setting a movable plate that can move out of the storage cavity and a flipping plate that is pivotable relative to the movable plate, and cooperating with a transfer mechanism for transferring the drone and its pod from the flipping plate to the movable plate or from the movable plate to the flipping plate, a single drone equipped with a pod can be directly retrieved into the device or launched from the device, ultimately enabling a single ground vehicle to carry more drones and goods.
Description
Technical Field
The invention relates to the technical field of logistics transportation, in particular to an unmanned aerial vehicle storage device for an unmanned aerial vehicle logistics distribution system.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
The unmanned aerial vehicle-based logistics distribution system is a logistics distribution technology and business in an development period, and because the unmanned aerial vehicle can achieve coordinate arrival in any three-dimensional space, the unmanned aerial vehicle-based logistics distribution system is very suitable for accurately delivering light and high-efficiency objects from a logistics terminal (including but not limited to an express station or a supplier) to a user terminal or from the user terminal to the logistics terminal, and therefore the unmanned aerial vehicle logistics distribution system is expected to become an important object distribution mode in the logistics distribution field in the future.
In the related art, a type of unmanned aerial vehicle logistics distribution system is known as a vehicle-mounted unmanned aerial vehicle logistics distribution system, and such a distribution system is generally composed of a ground carrier (for example, a van or a minibus for logistics transportation) loaded with an unmanned aerial vehicle and an unmanned aerial vehicle, wherein a pod for placing the articles is loaded on the unmanned aerial vehicle, and during actual operation, the ground carrier is moved to a target position, and thereafter, logistics distribution can be roughly divided into two cases, one case is that the unmanned aerial vehicle transports an order article from the ground carrier to a user side, and the other case is that the unmanned aerial vehicle transports an article (for example, an article to be returned) from the user side to the ground carrier. The first case for the above will relate to the flying procedure of the drone, while the second case will relate to the recovery procedure of the drone.
However, in order to realize flying or recycling of the unmanned aerial vehicle, the known vehicle-mounted unmanned aerial vehicle logistics distribution system generally needs to additionally add an independent platform for the unmanned aerial vehicle to take off or land on the ground carrier, and as the unmanned aerial vehicle, a nacelle carried on the unmanned aerial vehicle and the additionally added platform all occupy limited movable space inside the ground carrier, how to load more unmanned aerial vehicles and objects in the limited movable space of the ground carrier as much as possible and smoothly finish flying or recycling of the unmanned aerial vehicle is an important problem to be solved by the vehicle-mounted unmanned aerial vehicle logistics distribution system at present.
Disclosure of Invention
The inventor of the invention finds that if the unmanned aerial vehicle and the pod can be stored in the same device at the same time, and the device can directly realize flying or recycling of the unmanned aerial vehicle, the movable space inside the ground carrier occupied by the single unmanned aerial vehicle and the pod is expected to be reduced as much as possible.
Therefore, the object of the present invention is to provide a storage device for unmanned aerial vehicle logistics distribution system, which can store single unmanned aerial vehicle and its nacelle by using the storage cavity by arranging a body with the storage cavity, thereby hopefully reducing the space occupied by the single unmanned aerial vehicle and its nacelle, at the same time, by arranging a movable plate capable of moving outside the storage cavity and a turnover plate pivotable relative to the movable plate, and cooperating with a transfer mechanism for transferring the unmanned aerial vehicle and its nacelle from the turnover plate to the movable plate or from the movable plate to the turnover plate, so that the single unmanned aerial vehicle carrying the nacelle can be directly recovered into the device or put away from the device, thereby finally enabling a single ground carrier to load more unmanned aerial vehicles and articles.
The aim of the invention is achieved by the following technical scheme:
a drone storage for a drone logistics distribution system, the drone carrying a pod, the drone storage comprising:
the body is provided with a storage cavity; a first inlet and a first outlet which are communicated with the inside of the storage cavity are arranged on one side of the storage cavity;
the movable plate is horizontally arranged in the storage cavity and is provided with a first position when being positioned in the storage cavity and a second position when being positioned outside the storage cavity;
The moving mechanism is used for driving the movable plate to horizontally move between the first position and the second position through the first inlet and outlet;
The turnover plate is pivotally connected to one side, which is far away from the storage cavity, of the movable plate when the movable plate is in the second position, and can pivot relative to the movable plate to seal the first inlet and outlet when the movable plate is in the first position;
and the transfer mechanism is used for transferring the unmanned aerial vehicle carrying the nacelle onto the turnover plate by the movable plate or onto the movable plate by the turnover plate.
In some possible embodiments, the movable plate is provided with a first channel extending in the direction of movement of the movable plate and penetrating the movable plate;
the turnover plate is provided with a second channel, and when the turnover plate pivots relative to the movable plate to be parallel to the movable plate, the second channel is aligned and communicated with the first channel;
A second inlet and outlet communicated with the storage cavity is arranged on the other side of the body opposite to the first inlet and outlet;
The nacelle comprises:
the device comprises a cabin body, a first channel and a second channel, wherein the cabin body is provided with a containing cavity, a third inlet and a fourth outlet which are communicated with the containing cavity are respectively arranged on two opposite sides of the containing cavity, a pushing groove which can be aligned with the first channel is arranged at the bottom of the cabin body, and the pushing groove penetrates through the cabin body along the extending direction of the first channel;
The limiting mechanism is arranged in the cabin body and used for fixing the articles in the accommodating cavity;
The transfer mechanism includes:
the first transfer unit is arranged in the first channel;
The second transfer unit is connected to the first transfer unit and can enter and exit the second channel under the driving of the first transfer unit;
The pushing piece is connected to the second transfer unit and can reciprocate along the movement direction of the movable plate under the driving of the second transfer unit.
In some possible embodiments, the first transfer unit includes a first slider, a first transfer screw, and a first transfer motor;
The first sliding block is slidably arranged in the first channel, the first transfer screw rod is freely rotatably arranged in the first channel and penetrates through the first sliding block, the first sliding block is in threaded connection with the first transfer screw rod, and one end of the first transfer screw rod is in transmission connection with the first transfer motor;
The second transferring unit comprises a transferring chute, a second sliding block, a second transferring screw rod and a second transferring motor;
The transfer sliding groove extends along the axial direction of the first transfer lead screw and is connected to the first sliding block, the second sliding block is slidably arranged in the transfer sliding groove, the second transfer lead screw is freely rotatably arranged in the transfer sliding groove and penetrates through the second sliding block, the second sliding block is in threaded connection with the second transfer lead screw, and one end of the second transfer lead screw is in transmission connection with the second transfer motor;
the pushing piece comprises a pushing plate and a pushing plate motor, the pushing plate is pivotably connected to the second sliding block, and the pushing plate motor is used for driving the pushing plate to pivot relative to the second sliding block;
One side of the storage cavity, which is far away from the first inlet and outlet, is provided with a containing groove, and when the movable plate is positioned at the first position, the push plate motor drives the push plate to pivot relative to the second sliding block and enter the containing groove.
In some possible embodiments, the limiting mechanism includes a pressing component, the pressing component includes a pressing plate and a pushing support, the pressing plate is disposed in the accommodating cavity and is opposite to the pushing groove, the pushing support is disposed between the pressing plate and the inner top of the cabin, and the pushing support is used for driving the pressing plate to reciprocate along a vertical direction.
In some possible embodiments, the limit mechanism further comprises a clamping assembly comprising two clamping units, a clamping motor, a clamping screw, and a clamping slider;
the two clamping units are symmetrically arranged on two sides of the pressing plate, each clamping unit comprises a clamping plate and a clamping connecting rod, each clamping plate is slidably arranged on the pressing plate, and part of each clamping plate vertically extends to the lower part of the pressing plate;
the clamping screw rod is arranged on the pressing plate in a free rotation mode, the axial direction of the clamping screw rod is perpendicular to the sliding direction of the clamping plate, and one end of the clamping screw rod is in transmission connection with the clamping motor;
the clamping slider is slidably arranged on the pressing plate, the clamping slider is sleeved on the outer wall of the clamping screw and is in threaded connection with the clamping screw, one end of the clamping connecting rod of the clamping unit is hinged with the corresponding clamping plate, and the other end of the clamping connecting rod is hinged with the clamping slider.
In some possible embodiments, the unmanned aerial vehicle storage device further comprises a centering mechanism provided on the roll-over panel, the centering mechanism comprising two centering units and a centering drive assembly;
the two centering units are symmetrically arranged on two sides of the turnover plate by taking the movement direction of the movable plate as an axis;
The centering units comprise centering plates, the centering plates are slidably arranged on the top surfaces of the overturning plates, the sliding paths of the centering plates are perpendicular to the moving direction of the movable plates, and the centering driving assemblies are used for driving the centering plates of the two centering units to be close to or far away from each other.
In some possible embodiments, the centering drive assembly comprises a centering motor, a centering screw, and a centering slider;
the centering screw rod is arranged on the turnover plate in a free rotation way, the axial direction of the centering screw rod is parallel to the movement direction of the movable plate, and one end of the centering screw rod is in transmission connection with the centering motor;
The centering sliding block is slidably arranged on the turnover plate, and is sleeved on the outer wall of the centering screw rod and in threaded connection with the centering screw rod;
The centering unit further comprises a centering connecting rod, one end of the centering connecting rod is hinged with the centering plate, and the other end of the centering connecting rod is hinged with the centering sliding block;
the longitudinal section of the centering plate is stepped, and the centering plate is gradually far away from the centering screw rod from top to bottom.
In some possible embodiments, the unmanned aerial vehicle storage device further includes a fixing mechanism disposed on the movable plate, the fixing mechanism includes two fixing units, and the two fixing units are symmetrically disposed on two sides of the movable plate with a movement direction of the movable plate as an axis;
The fixed unit comprises a fixed motor, a fixed screw rod, a fixed sliding block and a fixed plate, wherein the fixed screw rod is arranged on the movable plate in a free rotation way, the axial direction of the fixed screw rod is perpendicular to the moving direction of the movable plate, and one end of the fixed screw rod is in transmission connection with the fixed motor;
The fixed slider slidable sets up on the mount, fixed slider's slip path perpendicular to the direction of motion of fly leaf, fixed slider cover is located fixed lead screw outer wall and with fixed lead screw threaded connection, the fixed plate connect in fixed slider is last and be located the top surface of fly leaf.
In some possible embodiments, the moving mechanism includes two moving units, and the two moving units are symmetrically disposed on two sides of the movable plate with the moving direction of the movable plate as an axis;
The mobile unit comprises a mobile motor, a driving arm, a driven arm and a mobile shaft, wherein the mobile motor is arranged on the body, one end of the driving arm is in transmission connection with the mobile motor, the other end of the driving arm is in hinged connection with one end of the driven arm, and the other end of the driven arm is in hinged connection with the mobile shaft;
The body is provided with limit grooves corresponding to the moving units one by one, the limit grooves extend along the moving direction of the movable plate, the moving shafts of the moving units are slidably arranged in the corresponding limit grooves, and the moving shafts are connected with the movable plate.
In some possible embodiments, the unmanned aerial vehicle storage device further includes two flexible pieces, the two flexible pieces are respectively disposed on two sides of the turnover plate with a movement direction of the movable plate as an axis, one end of each flexible piece is connected with the turnover plate, and the other end of each flexible piece is connected with the body.
The technical scheme of the embodiment of the invention has at least the following advantages and beneficial effects:
according to the unmanned aerial vehicle storage device, the body with the storage cavity is arranged, the single-frame unmanned aerial vehicle and the pod thereof can be stored by utilizing the storage cavity, so that the occupied space of the single-frame unmanned aerial vehicle and the pod thereof is hopefully reduced, meanwhile, the movable plate capable of moving outside the storage cavity and the turnover plate capable of pivoting relative to the movable plate are arranged, and the unmanned aerial vehicle and the pod thereof are matched with the transfer mechanism for transferring the turnover plate to the movable plate or transferring the movable plate to the turnover plate, so that the single-frame unmanned aerial vehicle carrying the pod can be directly recycled into the device or fly from the device, and further, the single ground carrier can be used for loading more unmanned aerial vehicles and objects.
Drawings
Fig. 1 is a schematic structural view of an unmanned aerial vehicle storage device when a movable plate is in a first position and a turnover plate is pivoted to seal a first entrance and exit according to an embodiment of the present invention;
Fig. 2 is a schematic view of the unmanned aerial vehicle storage device shown in fig. 1 from another perspective;
Fig. 3 is a schematic structural view of the unmanned aerial vehicle storage device when the movable plate is at the second position and the turnover plate is pivoted to be parallel to the movable plate according to the embodiment of the present invention;
FIG. 4 is a schematic structural view of the body shown in FIG. 2;
FIG. 5 is a schematic view of a partial cross-sectional structure of the body of the unmanned aerial vehicle storage device shown in FIG. 3;
FIG. 6 is a schematic diagram of a nacelle according to an embodiment of the invention;
FIG. 7 is a schematic view of the nacelle shown in FIG. 6 from another perspective;
FIG. 8 is a schematic view of the spacing mechanism shown in FIG. 6;
FIG. 9 is a schematic view of the structure of the hold-down assembly shown in FIG. 8;
FIG. 10 is a schematic view of the structure of the clamping assembly shown in FIG. 8;
Fig. 11 is a schematic structural view of the moving mechanism, centering mechanism, and fixing mechanism of the unmanned aerial vehicle storage device shown in fig. 3 with the body, the movable plate, and the flipping plate omitted;
Fig. 12 is a schematic structural view of the moving mechanism shown in fig. 11;
FIG. 13 is a schematic structural view of the centering mechanism shown in FIG. 11;
fig. 14 is a schematic structural view of a single fixing unit of the fixing mechanism shown in fig. 11;
Fig. 15 is a schematic structural diagram of a storage device of an unmanned aerial vehicle when the unmanned aerial vehicle carrying a pod drops onto a turnover plate according to an embodiment of the present invention;
Fig. 16 is a schematic view of a storage device for an unmanned aerial vehicle according to an embodiment of the present invention when applied to a ground vehicle.
10-Unmanned aerial vehicle storage device, 11-body, 111-storage cavity, 112-first inlet and outlet, 113-second inlet and outlet, 114-limit slot, 115-interlayer, 116-containing slot, 12-movable plate, 121-first channel, 13-moving mechanism, 131-moving unit, 1311-moving motor, 1312-driving arm, 1313-driven arm, 1314-moving shaft, 14-turnover plate, 141-second channel, 15-moving mechanism, 151-first transfer unit, 1511-first slider, 1512-first transfer screw, 1513-first transfer motor, 152-second transfer unit, 1521-transfer chute, 1522-second slider, 1523-second transfer screw, 1524-second transfer motor, 153-pushing member, 1531-pushing plate, 1532-pushing plate motor, 16-flexible member, 17-centering mechanism, 171-centering unit, 1711-centering connecting rod, 172-centering driving assembly, 1721-centering motor, 1722-centering slider, 1723-centering motor, 152-second transfer unit, 181-fixed screw, 1812-fixed screw, 1814-fixed screw;
20-nacelle, 21-nacelle body, 211-accommodating cavity, 212-third inlet and outlet, 213-fourth inlet and outlet, 214-pushing groove, 22-limit mechanism, 221-pushing component, 2211-pressing plate, 2212-pushing support, 222-clamping component, 2221-clamping unit, 22211-clamping plate, 22212-clamping connecting rod, 2222-clamping motor, 2223-clamping screw, 2224-clamping slide block and 23-inclined slide table.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described in connection with the following detailed description.
Referring to fig. 1 to 15, an embodiment of the present invention provides an unmanned aerial vehicle storage device 10 for an unmanned aerial vehicle logistics distribution system, which can store an unmanned aerial vehicle (not shown in the figure) with a nacelle 20, and can recycle and fly the unmanned aerial vehicle, so as to reduce the volume of the unmanned aerial vehicle and the nacelle 20 thereof as much as possible, and further hopefully promote the number of unmanned aerial vehicles and articles loadable by a single ground carrier 30 (not shown in the figure) in the vehicular unmanned aerial vehicle logistics distribution system.
Specifically, the unmanned aerial vehicle storage device 10 includes a body 11, wherein, as shown in fig. 3, the body 11 is provided with a storage cavity 111 for accommodating the unmanned aerial vehicle and its pod 20, in practical implementation, the body 11 may be in a box structure, the interior of which is the storage cavity 111, and one side of the storage cavity 111 is provided with a first inlet/outlet 112 communicated with the interior thereof, and the first inlet/outlet 112 is used for transferring the unmanned aerial vehicle and its pod 20 from the exterior of the storage cavity 111 to the interior of the storage cavity 111 or from the interior of the storage cavity 111 to the exterior of the storage cavity 111.
In order to facilitate the description of the unmanned aerial vehicle storage apparatus 10 provided in the present embodiment, as shown in fig. 6 or 7, the nacelle 20 mounted on the unmanned aerial vehicle in the present embodiment has a rectangular housing structure, and of course, the structure of the nacelle 20 is not limited to this, and the nacelle 20 that can be mounted on the unmanned aerial vehicle and can be used for placing corresponding objects may be known in the art.
Meanwhile, as shown in fig. 2 or fig. 4, in actual implementation, the other side of the storage cavity 111 opposite to the first inlet/outlet 112 is provided with a second inlet/outlet 113 communicating with the interior of the storage cavity 111, that is, at this time, both opposite sides of the body 11 are open structures. According to the unmanned aerial vehicle storage device 10 provided by the embodiment, the unmanned aerial vehicle storage device is loaded in the ground carrier 30 for use, and the ground carrier 30 is often provided with a corresponding article storage area, so that the second inlet and outlet 113 is additionally arranged in the ground carrier 30, the transfer device 40 aligned with the second inlet and outlet 113 is facilitated to be additionally arranged in the ground carrier 30, and articles in the pod 20 in the storage cavity 111 are transferred to the article storage area of the ground carrier 30 by means of the transfer device 40, or the articles in the article storage area in the ground carrier 30 are transferred to the pod 20 in the storage cavity 111 by means of the transfer device 40.
Specifically, when the unmanned aerial vehicle moves to the storage cavity 111 with the pod 20 loaded with the objects, the objects in the pod 20 can be transferred from the pod 20 to the object storage area inside the ground carrier 30 by using the transfer device 40, and correspondingly, when the unmanned aerial vehicle needs to be used for transporting the specified objects to the user side, the specified objects in the object storage area inside the ground carrier 30 are transferred to the pod 20 in the storage cavity 111 by using the transfer device 40, and then the unmanned aerial vehicle can be flown to finish the distribution of the subsequent objects.
On this basis, in order to enable the unmanned aerial vehicle and its pod 20 to move from outside the storage chamber 111 to inside the storage chamber 111 or from inside the storage chamber 111 to outside the storage chamber 111, the unmanned aerial vehicle storage device 10 provided in the present embodiment further includes a movable plate 12, a moving mechanism 13, a flipping plate 14, and a transferring mechanism 15.
In the present embodiment, the movable plate 12 is horizontally movably disposed in the storage chamber 111, that is, the movable plate 12 can horizontally move in the storage chamber 111, and at this time, as shown in fig. 2 and 3, the movable plate 12 has a first position when it is disposed in the storage chamber 111 and a second position when it is disposed outside the storage chamber 111.
The moving mechanism 13 is used for driving the movable plate 12 to move horizontally between the first position and the second position through the first inlet and outlet 112, that is, the moving mechanism 13 can drive the movable plate 12 to move from the inside of the storage cavity 111 to the outside of the storage cavity 111 through the first inlet and outlet 112, or drive the movable plate 12 to move from the outside of the storage cavity 111 to the inside of the storage cavity 111 through the first inlet and outlet 112.
In order to achieve the above-described functions, the present embodiment provides a moving mechanism 13 of a relatively simple structure, and of course, the specific structure of the moving mechanism 13 is not limited to the description of the present embodiment. Specifically, the moving mechanism 13 includes two moving units 131, and the two moving units 131 are symmetrically disposed on two sides of the movable plate 12 with the moving direction of the movable plate 12 as an axis, so that the movable plate 12 is driven to move horizontally by the two moving units 131 together.
Further, as shown in fig. 5, the moving unit 131 includes a moving motor 1311, a driving arm 1312, a driven arm 1313 and a moving shaft 1314, the moving motor 1311 is disposed on the body 11, one end of the driving arm 1312 is in transmission connection with the moving motor 1311, so that the driving arm 1312 is driven to rotate by the moving motor 1311, the other end of the driving arm 1312 is hinged with one end of the driven arm 1313, and the other end of the driven arm 1313 is hinged with the moving shaft 1314.
Meanwhile, the body 11 is provided with limit grooves 114 corresponding to the moving units 131 one by one, the limit grooves 114 extend along the moving direction of the movable plate 12, a moving shaft 1314 of the moving unit 131 is slidably disposed in the corresponding limit groove 114, and the moving shaft 1314 is connected with the movable plate 12.
In this way, when the movable plate 12 needs to be driven to move horizontally by the moving mechanism 13, the moving motors 1311 of the two moving units 131 need to be started at the same time, and the operation principle of one of the moving units 131 is taken as an example in the embodiment based on the same operation principle of the two moving units 131.
Specifically, when the movement motor 1311 of the movement unit 131 works, the movement motor 1311 will drive the corresponding driving arm 1312 to rotate, at this time, because the movement shaft 1314 is limited by the limiting slot 114, the circular movement of the driving arm 1312 will be converted into the linear movement of the movement shaft 1314 along the limiting slot 114 under the transmission action of the driven arm 1313, that is, the movement shaft 1314 can move horizontally along the limiting slot 114, so that the purpose of driving the movable plate 12 to move horizontally by the movement shaft 1314 is achieved, and on this basis, only the movement motor 1311 needs to be reasonably controlled to drive the driving arm 1312 to rotate forward or backward, so that the movable plate 12 can be driven to move horizontally and reciprocally by the movement shaft 1314, thereby enabling the movable plate 12 to move from outside the storage cavity 111 to inside the storage cavity 111 or from inside the storage cavity 111 to outside the storage cavity 111 via the first inlet/outlet 112.
In order to avoid that the moving motor 1311, the driving arm 1312, the driven arm 1313, and other components forming the moving unit 131 occupy the space inside the storage cavity 111, as shown in fig. 2, 3, or 4, in practical implementation, the moving motor 1311 may be disposed on the outer wall of the body 11, and meanwhile, the interlayers 115 corresponding to the moving units 131 one by one may be disposed at positions inside the body 11 and beside the storage cavity 111, and the driving arm 1312 and the driven arm 1313 of the single moving unit 131 may be disposed in the corresponding interlayers 115.
In the present embodiment, the flap 14 is pivotably connected to a side of the movable plate 12 that is remote from the storage chamber 111 when in the second position, and when the movable plate 12 is in the first position, as shown in fig. 1 or 2, the flap 14 can be pivoted relative to the movable plate 12 to seal the first access opening 112, and correspondingly, when the movable plate 12 is in the second position, as shown in fig. 3, the flap 14 can be pivoted relative to the movable plate 12 to be parallel to the movable plate 12.
It will be appreciated that by providing the pivotable flap 14, since the flap 14 will pivot to be parallel to the flap 12 when the flap 12 is in the second position, the length of the flap 12 can be effectively extended by the flap 14, and when the unmanned aerial vehicle storage device 10 is placed inside the ground carrier 30 for use, only the position of the unmanned aerial vehicle storage device 10 need be properly adjusted (e.g., the unmanned aerial vehicle storage device 10 is disposed proximate to the opening 31 of the ground carrier 30 sealed by the door), the unmanned aerial vehicle recovery or flying can be achieved when the door of the ground carrier 30 is opened to expose the opening 31 of the ground carrier 30, and the flap 14 pivots to be parallel to the flap 12, and when the flap 12 is moved to the second position, the flap 12 and/or the flap 14 is positioned just outside the ground carrier 30, thereby facilitating the unmanned aerial vehicle to land on the flap 14 or directly take off from the flap 14, and achieving the unmanned aerial vehicle recovery or flying smoothly with the volume of the unmanned aerial vehicle storage device 10 being reduced as much as possible.
Correspondingly, when the movable plate 12 is in the first position, the turnover plate 14 is pivoted to be perpendicular to the movable plate 12 to seal the first inlet and outlet 112, and at this time, the turnover plate 14 can play a role of protecting the unmanned aerial vehicle and the pod 20 thereof in the storage cavity 111, and can effectively reduce the volume of the whole unmanned aerial vehicle storage device 10 when the movable plate 12 is in the first position.
It should be noted that, in order to implement the pivoting of the roll-over board 14, the roll-over board 14 may be pivotally connected to the movable board 12 through a pivot shaft, and in practical implementation, a roll-over motor (not shown in the figure) for driving the roll-over board 14 to pivot may be further added, that is, the roll-over motor is in transmission connection with the pivot shaft, so as to implement the automatic pivoting of the roll-over board 14.
Meanwhile, in order to improve the bearing capacity of the turnover plate 14 when the turnover plate 14 pivots to be parallel to the movable plate 12, as shown in fig. 3, the unmanned aerial vehicle storage device 10 may further include two flexible pieces 16, wherein the two flexible pieces 16 are respectively disposed on two sides of the turnover plate 14 with the movement direction of the movable plate 12 as axes, one end of the flexible piece 16 is connected with the turnover plate 14, and the other end of the flexible piece 16 is connected with the body 11, specifically, as shown in fig. 5, one end of the flexible piece 16 far away from the turnover plate 14 extends into the corresponding interlayer 115 and then is connected with the body 11, thereby avoiding the flexible piece 16 occupying the space inside the storage cavity 111.
It will be appreciated that the flexible member 16 may be, but is not limited to, a flexible cord, such that when the roll-over panel 14 is pivoted to seal the first access opening 112, the flexible member 16 is in a relaxed state, and when the roll-over panel 14 is pivoted to be parallel with the movable panel 12, the flexible member 16 will be in a tensioned state, in which the flexible member 16 is capable of applying a pulling force to the roll-over panel 14, thereby providing an enhanced load carrying capacity when the roll-over panel 14 is pivoted to be parallel with the movable panel 12.
In this embodiment, the transfer mechanism 15 is used for transferring the unmanned aerial vehicle carrying the pod 20 from the movable plate 12 to the turnover plate 14 or from the turnover plate 14 to the movable plate 12, that is, when the unmanned aerial vehicle needs to be recovered, after the unmanned aerial vehicle carries the pod 20 loaded with the objects to land on the turnover plate 14, the unmanned aerial vehicle and the pod 20 thereof can be transferred from the turnover plate 14 to the movable plate 12 through the transfer mechanism 15, so that the unmanned aerial vehicle and the pod 20 thereof can be driven to move into the storage cavity 111 through the first inlet and outlet 112 when the movable plate 12 moves horizontally into the storage cavity 111, otherwise, when the unmanned aerial vehicle needs to be flown, after the movable plate 12 moves horizontally from the inside of the storage cavity 111 to the outside of the storage cavity 111, the unmanned aerial vehicle and the pod 20 thereof can be transferred from the movable plate 12 to the turnover plate 14 through the transfer mechanism 15, thereby being beneficial to smooth take-off of the unmanned aerial vehicle.
Considering that the roll-over panel 14 in the present embodiment is pivotally connected to the movable panel 12, the present embodiment further defines the structures of the movable panel 12 and the roll-over panel 14 in order to ensure that the transfer mechanism 15 can smoothly transfer the unmanned aerial vehicle and its pod 20 between the roll-over panel 14 and the movable panel 12, and to avoid the transfer mechanism 15 occupying additional space. Meanwhile, in order to realize that the objects in the pod 20 can be simultaneously transferred from the pod 20 to the outside of the storage cavity 111 by using the transfer mechanism 15 when the unmanned aerial vehicle and the pod 20 thereof are positioned in the storage cavity 111, so as to transfer the objects into the corresponding object storage areas in combination with the transfer device 40 arranged in the ground carrier 30, the structure of the pod 20 is further limited, and an improved transfer mechanism 15 is provided.
Specifically, as shown in fig. 3, the movable plate 12 is provided with a first passage 121 extending in the moving direction of the movable plate 12 and penetrating the movable plate 12, and at the same time, the roll-over plate 14 is provided with a second passage 141, and when the roll-over plate 14 is pivoted relative to the movable plate 12 to be parallel to the movable plate 12, the second passage 141 is aligned with and communicates with the first passage 121.
At this time, as shown in fig. 6 and 7, the nacelle 20 includes a nacelle body 21 and a limiting mechanism 22, wherein the nacelle body 21 is provided with a receiving cavity 211 for receiving articles, and the opposite sides of the receiving cavity 211 are respectively provided with a third inlet 212 and a fourth inlet 213 which are communicated with the receiving cavity 211, that is, the nacelle body 21 is a shell structure with openings at both ends, and when the nacelle 20 is positioned in the storage cavity 111, the third inlet 212 is aligned with the first inlet 112, the fourth inlet 213 is aligned with the second inlet 113, and at the same time, the bottom of the nacelle body 21 is provided with a pushing groove 214 which can be aligned with the first channel 121, and the pushing groove 214 penetrates the nacelle body 21 along the extending direction of the first channel 121.
The limiting mechanism 22 is disposed in the cabin 21 and is used for fixing the articles in the accommodating cavity 211, that is, the articles in the accommodating cavity 211 are always fixed by the limiting mechanism 22 during the flying process of the unmanned aerial vehicle carrying the nacelle 20, so as to avoid the articles from sliding out of the accommodating cavity 211. Meanwhile, in practical implementation, as shown in fig. 7, a corresponding inclined sliding table 23 may be further disposed at the bottom of one side of the cabin 21 corresponding to the fourth inlet and outlet 213, so that the articles can more smoothly enter and exit the accommodating cavity 211 through the fourth inlet and outlet 213.
Referring to fig. 3, 11 and 12, the transfer mechanism 15 includes a first transfer unit 151, a second transfer unit 152 and a pushing member 153. The first transfer unit 151 is disposed in the first channel 121, the second transfer unit 152 is connected to the first transfer unit 151, and the second transfer unit 152 can enter and exit the second channel 141 under the driving of the first transfer unit 151, and the pushing member 153 is correspondingly connected to the second transfer unit 152, and the pushing member 153 can reciprocate along the moving direction of the movable plate 12 under the driving of the second transfer unit 152.
When the unmanned aerial vehicle is recovered, as shown in fig. 15, the movable plate 12 is first located at the second position, the turnover plate 14 is pivoted to be parallel to the movable plate 12, at this time, the first channel 121 on the movable plate 12 is aligned with and communicated with the second channel 141 on the turnover plate 14, after that, the first transfer unit 151 drives the second transfer unit 152 to move from the first channel 121 to the second channel 141, on the basis, the second transfer unit 152 drives the pushing member 153 to move in the second channel 141 to a position far away from the first channel 121, when the unmanned aerial vehicle drops on the turnover plate 14 with the pod 20, the unmanned aerial vehicle and the pod 20 thereof are just located between the pushing member 153 and the first inlet and outlet 112, and at this time, the object located in the accommodating cavity 211 of the pod 21 is fixed by the limiting mechanism 22, and the pushing groove 214 at the bottom of the pod 21 is just aligned with the second channel 141.
Then, the first transferring unit 151 drives the second transferring unit 152 to move towards the direction of the first inlet and outlet 112, at this time, the pushing member 153 can push the articles fixed by the limiting mechanism 22 in the accommodating cavity 211 of the cabin 21, so as to transfer the unmanned aerial vehicle and the pod 20 thereof from the turnover plate 14 to the movable plate 12 by using the pushing member 153, and finally, the movable plate 12 is driven by the moving mechanism 13 to move from the second position to the first position through the first inlet and outlet 112, so that the unmanned aerial vehicle and the pod 20 thereof can be stored in the storage cavity 111.
After the unmanned aerial vehicle and the pod 20 thereof move into the storage cavity 111, the pushing groove 214 at the bottom of the cabin body 21 is aligned with the first channel 121, then the limiting mechanism 22 releases the fixing of the objects in the storage cavity 211, after that, the second transferring unit 152 drives the pushing member 153 to move towards the direction of the second inlet and outlet 113, at this time, the pushing member 153 enters the storage cavity 211 from the third inlet and outlet 212 of the cabin body 21 and pushes the objects in the storage cavity 211 towards the direction of the fourth inlet and outlet 213 along the pushing groove 214 until the pushing member 153 pushes the objects out of the storage cavity 211 from the fourth inlet and outlet 213, and then the objects can be transferred to the corresponding object storage areas by the second inlet and outlet 113 of the body 11 in cooperation with the transfer device 40 arranged in the ground carrier 30, so that the recovery of the unmanned aerial vehicle and the pod 20 and the transfer operation of the objects in the pod 20 are realized.
On the contrary, when the unmanned aerial vehicle needs to be flown, the articles are transported into the accommodating cavity 211 of the cabin 21 from the second inlet and outlet 113 of the main body 11 and the fourth inlet and outlet 213 of the cabin 21 through the transporting device 40 in the ground carrier 30, and the articles are fixed through the limiting mechanism 22. Then, the turnover plate 14 is pivoted to be parallel to the movable plate 12, at this time, the unmanned aerial vehicle and the pod 20 thereof are positioned between the first inlet and outlet 112 and the pushing member 153 in the storage cavity 111, and then, the movable plate 12 moves from the first position to the second position through the first inlet and outlet 112, on the basis, the first transfer unit 151 drives the second transfer unit 152 to move towards the second channel 141, at this time, the pushing member 153 can push the articles in the accommodating cavity 211 of the pod 21, which are fixed by the limiting mechanism 22, so that the unmanned aerial vehicle and the pod 20 thereof are transferred onto the turnover plate 14 from the movable plate 12, and then, the unmanned aerial vehicle can be flown.
In order to realize driving the second transfer unit 152 into and out of the second passage 141 using the first transfer unit 151, as shown in fig. 12, the first transfer unit 151 includes a first slider 1511, a first transfer screw 1512, and a first transfer motor 1513. The first slider 1511 is slidably disposed in the first channel 121, the first transfer screw 1512 is freely rotatably disposed in the first channel 121 and penetrates through the first slider 1511, the first slider 1511 is in threaded connection with the first transfer screw 1512, one end of the first transfer screw 1512 is in driving connection with the first transfer motor 1513, so as to drive the first transfer screw 1512 to rotate through the first transfer motor 1513, and the second transfer unit 152 is connected to the first slider 1511.
When the first transfer motor 1513 drives the first transfer screw 1512 to rotate, the first slider 1511 moves linearly along the axial direction of the first transfer screw 1512 based on the screw driving principle, so that the purpose of driving the second transfer unit 152 to move through the first slider 1511 is achieved, and at this time, only the first transfer motor 1513 is reasonably controlled to drive the first transfer screw 1512 to rotate forward or reversely, so that the first slider 1511 drives the second transfer unit 152 to reciprocate to enter and exit the second channel 141 can be achieved.
Accordingly, in order to realize the reciprocating motion of the pusher 153 in the moving direction of the movable plate 12 by the second transfer unit 152, with continued reference to fig. 12, the second transfer unit 152 includes a transfer chute 1521, a second slider 1522, a second transfer screw 1523, and a second transfer motor 1524. The transfer chute 1521 extends along the axial direction of the first transfer screw 1512 and is connected to the first slider 1511, the second slider 1522 is slidably disposed in the transfer chute 1521, the second transfer screw 1523 is freely rotatably disposed in the transfer chute 1521 and penetrates the second slider 1522, the second slider 1522 is in threaded connection with the second transfer screw 1523, one end of the second transfer screw 1523 is in driving connection with the second transfer motor 1524, so as to drive the second transfer screw 1523 to rotate through the second transfer motor 1524, and the pushing member 153 is connected to the second slider 1522.
So set up, when second transfer motor 1524 drive second transfer lead screw 1523 rotates, based on the screw drive principle, second slider 1522 will be along the axial of second transfer lead screw 1523 to do rectilinear motion, and then just realized driving the purpose of impeller 153 motion through second slider 1522, at this moment, only need rationally control second transfer motor 1524 drive second transfer lead screw 1523 corotation or reversal, can realize utilizing second slider 1522 to drive impeller 153 and do reciprocating motion along the direction of motion of fly leaf 12.
On this basis, in order to realize that when the movable plate 12 is in the first position, the pushing member 153 does not occupy the movable space of the storage cavity 111, and is beneficial for the transfer device 40 to transfer the articles in the article storage area to the accommodating cavity 211 of the cabin 21 through the second inlet and outlet 113 of the body 11, and continuing to refer to fig. 12, the pushing member 153 in this embodiment includes a pushing plate 1531 and a pushing plate motor 1532, which are adapted to the pushing slot 214, where the pushing plate 1531 is pivotally connected to the second slide 1522, the pushing plate motor 1532 is used to drive the pushing plate 1531 to pivot relative to the second slide 1522, that is, the pushing plate 1531 can pivot to a vertical state under the driving of the pushing plate motor 1532 and is located above the top surface of the movable plate 12 or below the top surface of the movable plate 12, at this time, as shown in fig. 4, a side of the storage cavity 111 away from the first inlet and outlet 112 (i.e. a side corresponding to the second inlet and outlet 113) is provided with the accommodating slot 116, and when the movable plate 12 is in the first position and the articles in the article storage area need to be transferred to the accommodating cavity 21 by the transfer device 40 to the pushing plate motor 1532 is required to be pivoted relative to the second slide 1522, as shown in fig. 211, and thus the pushing plate 1531 is completely exposed to the second inlet and outlet 1531 is completely and is exposed to the second inlet and outlet 1531.
Meanwhile, in order to achieve reliable fixing of the articles in the accommodating cavity 211 of the cabin 21, as shown in fig. 8 and 9, the limiting mechanism 22 in this embodiment includes a pressing component 221, and the pressing component 221 includes a pressing plate 2211 and a pushing support 2212. Wherein, the pressure plate 2211 is disposed in the accommodating cavity 211 and faces the pushing groove 214, the pushing support 2212 is disposed between the pressure plate 2211 and the inner top of the cabin 21, and the pushing support 2212 is used for driving the pressure plate 2211 to reciprocate along the vertical direction.
So set up, when needs hold the article in holding chamber 211, only need with pushing away support 2212 drive clamp plate 2211 down motion in order to compress tightly the article can, on the contrary, only need with pushing away support 2212 drive clamp plate 2211 up motion can release the fixed to the article.
It can be appreciated that the pushing support 2212 can be, but is not limited to, a scissor-type lifting support, and the use of the scissor-type lifting support is beneficial to making the pressure of the pressure plate 2211 acting on the article more uniform, thereby improving the fixing effect.
In addition, in order to further enhance the fixing effect of the article to prevent the fixed article from shaking left and right, the limiting mechanism 22 in the present embodiment further includes a clamping assembly 222, and the clamping assembly 222 includes two clamping units 2221, a clamping motor 2222, a clamping screw 2223, and a clamping slider 2224.
As shown in fig. 8 and 10, two clamping units 2221 are symmetrically arranged at two sides of a pressing plate 2211, the clamping units 2221 comprise clamping plates 22211 and clamping connecting rods 22212, the clamping plates 22211 are slidably arranged on the pressing plate 2211, parts of the clamping plates 22211 vertically extend to the lower portion of the pressing plate 2211, meanwhile, clamping screws 2223 are freely rotatably arranged on the pressing plate 2211, the axial direction of the clamping screws 2223 is perpendicular to the sliding direction of the clamping plates 22211, one ends of the clamping screws 2223 are in transmission connection with clamping motors 2222 so as to drive the clamping screws 2223 to rotate through the clamping motors 2222, clamping sliding blocks 2224 are slidably arranged on the pressing plate 2211, clamping sliding blocks 2224 are sleeved on the outer walls of the clamping screws 2223 and are in threaded connection with the clamping screws 2223, one ends of the clamping connecting rods 22212 of the clamping units 2221 are hinged to the corresponding clamping plates 22211, and the other ends of the clamping connecting rods 22212 are hinged to the clamping sliding blocks 2224.
So configured, in an initial state, the space between the clamping plates 22211 of the two clamping units 2221 is larger than the width of the article in the accommodating chamber 211, when the article needs to be fixed, in combination with the foregoing, the pushing support 2212 drives the pressing plate 2211 to move downward to press the article, after which the clamping motor 2222 operates to drive the clamping screw 2223 to rotate, the clamping slider 2224 will move linearly in the axial direction of the clamping screw 2223 based on the screw driving principle, at this time, the clamping plates 22211 of the two clamping units 2221 will move in opposite directions under the driving action of the respective clamping connection bars 22212, so that the clamping plates 22211 of the two clamping units 2221 approach each other to clamp the article with the portions of the two clamping plates 22211 extending to below the pressing plate 2211. On the contrary, only the clamping motor 2222 is controlled to drive the clamping screw 2223 to rotate reversely, so that the clamping plates 22211 of the two clamping units 2221 move in opposite directions, and further clamping and fixing of the articles are released.
On this basis, in order to limit the position of the pod 20 when the unmanned aerial vehicle carries the pod 20 to land on the roll-over plate 14 so that the push groove 214 of the pod 21 can be aligned with the second passage 141, as shown in fig. 3, the unmanned aerial vehicle storage device 10 further includes a centering mechanism 17 provided on the roll-over plate 14.
Specifically, in connection with what is shown in fig. 11 and 13, the centering mechanism 17 includes two centering units 171 and a centering drive assembly 172. The two centering units 171 are symmetrically disposed on two sides of the flipping plate 14 with the moving direction of the movable plate 12 as an axis, and further, as shown in fig. 3, the two centering units 171 are symmetrically disposed on two sides of the flipping plate 14 with the second channel 141 as an axis, and the centering units 171 include a centering plate 1711, the centering plate 1711 is slidably disposed on the top surface of the flipping plate 14 (i.e. the upper surface corresponding to the pivoting of the flipping plate 14 to be parallel to the movable plate 12), the sliding path of the centering plate 1711 is perpendicular to the moving direction of the movable plate 12, and the centering driving assembly 172 is used for driving the centering plates 1711 of the two centering units 171 to approach or separate from each other.
So set up, in initial condition, the interval between the centering plates 1711 of two centering units 171 is great, when retrieving the unmanned aerial vehicle, after the unmanned aerial vehicle carried nacelle 20 to the roll-over board 14, unmanned aerial vehicle and nacelle 20 just are located between two centering plates 1711, can drive the centering plates 1711 of two centering units 171 through centering drive assembly 172 and be close to each other, thereby press from both sides tight fixation with unmanned aerial vehicle and nacelle 20 through two centering plates 1711, in order to realize the centering of unmanned aerial vehicle and nacelle 20, when later need utilize transfer mechanism 15 to shift unmanned aerial vehicle and nacelle 20 to fly leaf 12, only need first drive two centering plates 1711 and keep away from each other in order to release the tight fixation of unmanned aerial vehicle and nacelle 20 through centering drive assembly 172.
On this basis, in order to achieve the synchronous approaching or separating of the two centering plates 1711 by means of the centering driving assembly 172, with continued reference to fig. 13, the centering driving assembly 172 includes a centering motor 1721, a centering screw 1722, and a centering slider 1723. The centering screw 1722 is rotatably disposed on the turnover plate 14, an axial direction of the centering screw 1722 is parallel to a moving direction of the movable plate 12, further, as shown in fig. 11, the centering screw 1722 may be disposed in the second channel 141 and located below the second transferring unit 152, one end of the centering screw 1722 is in driving connection with the centering motor 1721, so that the centering screw 1722 is driven to rotate by the centering motor 1721, the centering slider 1723 is slidably disposed in the second channel 141 on the turnover plate 14, the centering slider 1723 is sleeved on an outer wall of the centering screw 1722 and is in threaded connection with the centering screw 1722, and the centering slider 1723 is also located below the second transferring unit 152 to avoid interference with the second transferring unit 152 when the centering slider 1723 moves.
At this time, the centering unit 171 further includes a centering link 1712, one end of the centering link 1712 is hinged to the centering plate 1711, and the other end of the centering link 1712 is hinged to the centering slider 1723.
So configured, when the centering motor 1721 drives the centering screw rod 1722 to rotate, the centering slider 1723 will make a linear motion in the axial direction of the centering screw rod 1722 based on the screw transmission principle, in which, for the single centering unit 171, the sliding path based on the centering slider 1723 is perpendicular to the moving direction of the movable plate 12 (i.e., the extending direction of the second passage 141), and thus the centering slider 1723 will slide with respect to the tilting plate 14 in a direction perpendicular to the moving direction of the movable plate 12 under the transmission of the centering connection rod 1712. At this time, only the centering motor 1721 needs to be reasonably controlled to drive the centering screw rod 1722 to rotate forward or reversely, so that the centering plates 1711 of the two centering units 171 can be synchronously moved closer to or away from each other.
It will be appreciated that in practical implementation, as shown in fig. 13, the longitudinal section of the centering plate 1711 may be configured to be stepped, and the centering plate 1711 gradually moves away from the centering screw 1722 from top to bottom, that is, the upper portion of the centering plate 1711 is closer to the centering screw 1722, so as to help raise the centering limit range of the centering plate 1711, thereby being suitable for clamping and fixing the nacelle 20 with multiple specifications.
In addition, considering that the unmanned aerial vehicle storage device 10 provided in this embodiment is generally disposed inside the ground carrier 30, and jolt may occur in the ground carrier 30 during moving, so in order to improve stability of the unmanned aerial vehicle and its pod 20 when in the storage cavity 111, in some possible embodiments, as shown in fig. 3, the unmanned aerial vehicle storage device 10 further includes a fixing mechanism 18 disposed on the movable board 12, and the unmanned aerial vehicle and its pod 20 on the movable board 12 can be reliably fixed by the fixing mechanism 18.
Specifically, in combination with what is shown in fig. 11 and 14, the fixing mechanism 18 includes two fixing units 181, and the two fixing units 181 are symmetrically disposed on both sides of the movable plate 12 with the moving direction of the movable plate 12 as an axis. Further, the two fixing units 181 are symmetrically disposed on two sides of the movable plate 12 with the first channel 121 as an axis, and the fixing units 181 include a fixed motor 1811, a fixed screw 1812, a fixed slider 1813, and a fixed plate 1814.
The fixed screw 1812 is rotatably disposed on the movable plate 12, and an axial direction of the fixed screw 1812 is perpendicular to a moving direction of the movable plate 12, and one end of the fixed screw 1812 is in transmission connection with the fixed motor 1811 so as to drive the fixed screw 1812 to rotate through the fixed motor 1811. The fixed slider 1813 is slidably disposed on the movable plate 12, the sliding path of the fixed slider 1813 is perpendicular to the moving direction of the movable plate 12, the fixed slider 1813 is sleeved on the outer wall of the fixed screw 1812 and is in threaded connection with the fixed screw 1812, and the fixed plate 1814 is connected to the fixed slider 1813 and is located on the top surface of the movable plate 12.
So configured, in the initial state, the space between the fixing plates 1814 of the two fixing units 181 is large, and the drone and its pod 20 are just located between the fixing plates 1814 of the two fixing units 181 after the drone and its pod 20 are transferred from the flipping plate 14 to the movable plate 12. On the basis, when the unmanned aerial vehicle and the nacelle 20 thereof need to be fixed, the corresponding fixed screw 1812 is driven to rotate by the fixed motor 1811 of the fixed unit 181, and the fixed slider 1813 moves linearly along the axial direction of the fixed screw 1812 based on the threaded transmission principle, at this time, the fixed plates 1814 of the two fixed units 181 are mutually close to clamp the unmanned aerial vehicle and the nacelle 20 thereof, and then the purpose of fixing the unmanned aerial vehicle and the nacelle 20 thereof is achieved.
In order to understand the unmanned aerial vehicle storage device 10 provided in this embodiment more clearly and intuitively, the working principle of the unmanned aerial vehicle storage device 10 will be further described below in conjunction with a specific application scenario.
Specifically, as shown in fig. 16, the unmanned aerial vehicle storage device 10 is placed inside the ground carrier 30 for use, the ground carrier 30 may be, but is not limited to, a van or a minibus for logistics transportation, the unmanned aerial vehicle storage device 10 is located next to the opening 31 of the ground carrier 30 sealed by the door, and the body 11 is provided with the first access opening 112 of the roll-over panel 14 facing the opening 31 of the ground carrier 30.
In the stage of recovering the unmanned aerial vehicle and the pod 20 thereof, the door of the ground carrier 30 is firstly opened to expose the opening 31 of the ground carrier 30, then the turnover plate 14 is pivoted relative to the movable plate 12 to be parallel to the movable plate 12, and the moving mechanism 13 drives the movable plate 12 to move from the first position to the second position through the first inlet and outlet 112, at this time, the turnover plate 14 is driven by the movable plate 12 to move to the outside of the ground carrier 30 through the opening 31, in the process, the first transfer unit 151 drives the second transfer unit 152 to move from the first channel 121 into the second channel 141, the second transfer unit 152 drives the push plate 1531 of the pushing member 153 to move to a position away from the first channel 121 along the second channel 141, and the push plate 1531 is pivoted to a vertical state and is located above the turnover plate 14 under the driving of the push plate motor 1532.
When the unmanned aerial vehicle carries the pod 20 to the place where the ground carrier 30 is located, as shown in fig. 15 and 16, the unmanned aerial vehicle drops so that the pod 20 is carried on the turnover plate 14, at this time, the unmanned aerial vehicle and the pod 20 thereof are just between the two centering plates 1711 of the centering mechanism 17, then the two centering plates 1711 approach each other to clamp the pod 20 under the drive of the centering drive assembly 172, during which the two centering plates 1711 center and limit the pod 20 so that the pushing groove 214 at the bottom of the pod 21 of the pod 20 is aligned with the second channel 141, and the push plate 1531 faces the object in the accommodating cavity 211 of the pod 21.
Next, the first transfer unit 151 drives the second transfer unit 152 to move toward the direction of the movable plate 12, at the same time, the two centering plates 1711 are driven by the centering driving component 172 to separate from each other to release the fixation of the pod 20, and when the push plate 1531 is driven by the second transfer unit 152 to move to contact with the object in the cabin 21, the push plate 1531 pushes the whole unmanned aerial vehicle, the pod 20 and the object to move toward the direction of the movable plate 12 until the unmanned aerial vehicle and the pod 20 thereof move onto the movable plate 12 and are located between the two fixing plates 1814 of the fixing mechanism 18 because the object in the cabin 21 is fixed by the limiting mechanism 22.
The two fixing plates 1814 are then brought close to each other by the respective fixing motor 1811, fixing screw 1812 and fixing slider 1813 to clamp the nacelle 20, thus achieving the fixing of the drone and its nacelle 20 on the mobile plate 12. Thereafter, the flap 12 is moved from the second position to the first position under the drive of the movement mechanism 13, such that the drone and its pod 20 move into the stowage cavity 111, and the flip plate 14 may be pivoted to seal the first access opening 112.
After the unmanned aerial vehicle and the pod 20 thereof move into the storage cavity 111 under the drive of the movable plate 12, the limiting mechanism 22 of the pod 20 releases the fixation of the objects in the pod 21, and then the second transfer unit 152 drives the push plate 1531 of the pushing member 153 to move towards the second inlet and outlet 113, at this time, the push plate 1531 enters the accommodating cavity 211 from the third inlet and outlet 212 of the pod 21 and pushes the objects towards the fourth inlet and outlet 213 along the pushing groove 214 until the push plate 1531 pushes the objects out of the accommodating cavity 211 from the fourth inlet and outlet 213, and at this time, the objects can be transferred to the object storage area of the ground carrier 30 to be stored in cooperation with the transfer device 4040 arranged in the ground carrier 30, thereby realizing the recovery of the unmanned aerial vehicle and the pod 20 thereof and the transfer operation of the objects.
Accordingly, when the designated objects in the ground carrier 30 need to be transported to the user side, that is, when the unmanned aerial vehicle needs to be flown, the reverse manner can be adopted.
Briefly, the specified articles in the article storage area are transferred to the accommodating cavity 211 of the cabin 21 by the transferring device 4040 in the ground carrier 30, the limiting mechanism 22 is used to fix the articles, the moving mechanism 13 is used to drive the movable plate 12 to move from the first position to the second position, and the turnover plate 14 is pivoted to be parallel to the movable plate 12.
Secondly, the fixing mechanism 18 releases the fixation of the unmanned aerial vehicle and the pod 20 thereof, then the unmanned aerial vehicle and the pod 20 thereof can be driven by the transfer mechanism 15 to move from the movable plate 12 to the turnover plate 14, and after the unmanned aerial vehicle and the pod 20 thereof move to the turnover plate 14, the unmanned aerial vehicle can be flown.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311011464.8A CN116946571B (en) | 2023-08-11 | 2023-08-11 | Unmanned aerial vehicle storage device for unmanned aerial vehicle logistics distribution system |
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| CN202311011464.8A CN116946571B (en) | 2023-08-11 | 2023-08-11 | Unmanned aerial vehicle storage device for unmanned aerial vehicle logistics distribution system |
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| CN116946571B true CN116946571B (en) | 2025-10-31 |
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| CN215923017U (en) * | 2021-09-30 | 2022-03-01 | 山东艾琳智能科技有限公司 | Storage device for artificial intelligent robot |
| CN218858733U (en) * | 2022-12-06 | 2023-04-14 | 国网江苏省电力有限公司 | Automatically adapt to multi-model drone nests |
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| DE102018203290A1 (en) * | 2018-03-06 | 2019-03-21 | Thyssenkrupp Ag | Container for transporting an aircraft and transport method |
| DE102021112296A1 (en) * | 2021-05-11 | 2022-11-17 | Schöck Bauteile GmbH | Parcel gate for a building exterior wall or balcony railing, method of delivering a parcel with an unmanned aerial vehicle and maneuvering the parcel through a parcel gate, building exterior wall and railing for a building balcony |
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| CN217893681U (en) * | 2022-09-08 | 2022-11-25 | 河南景玄信息技术有限公司 | Survey and drawing unmanned aerial vehicle storage device |
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| CN215923017U (en) * | 2021-09-30 | 2022-03-01 | 山东艾琳智能科技有限公司 | Storage device for artificial intelligent robot |
| CN218858733U (en) * | 2022-12-06 | 2023-04-14 | 国网江苏省电力有限公司 | Automatically adapt to multi-model drone nests |
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