CN206954515U - A kind of automatic sucking device for being loaded into unmanned plane - Google Patents
A kind of automatic sucking device for being loaded into unmanned plane Download PDFInfo
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- CN206954515U CN206954515U CN201720861277.2U CN201720861277U CN206954515U CN 206954515 U CN206954515 U CN 206954515U CN 201720861277 U CN201720861277 U CN 201720861277U CN 206954515 U CN206954515 U CN 206954515U
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- unmanned plane
- loaded
- ultrasound measurement
- electromagnet
- support frame
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Abstract
A kind of suction means is the utility model is related to, espespecially a kind of automatic sucking device for being loaded into unmanned plane；Including being loaded in the supporting mechanism of unmanned plane and the supersonic sounding mechanism on supporting mechanism, absorption module is installed in supersonic sounding mechanism；High-order ultrasound measurement module and low level ultrasound measurement module is installed inside support frame；The electromagnet for drawing module is arranged on electromagnet supporting plate bottom；Electromagnet is used in combination the utility model with two groups of ultrasound measurement modules, using two groups of ultrasound measurement modules for being located at Different Plane height, it is easy to detect cargo location and judged, data analysis is carried out with two groups of module height difference values, integrate using ranging data, be advantageous to goods positioning, simultaneously, absorption module of the present utility model is designed using three sizes, magnetic force identical electromagnet around suction means central point in equilateral triangle shape be set with, the scope that device draws goods can be increased, electromagnet is used in combination with two groups of ultrasound measurement modules.
Description
Technical field
A kind of suction means is the utility model is related to, espespecially a kind of automatic sucking device for being loaded into unmanned plane.
Background technology
With the development of science and technology, unmanned plane is used by industrial popularization, and the one of which purposes of unmanned plane is exactly
For gripping or loading goods, there is following inferior position in existing unmanned plane load-carrying device：Clamp device structure bulky, debugging are numerous
Miscellaneous, manufacture, maintenance cost are high；Structural stability is not high during loading, it is difficult to ensures that what goods stablized clamps；And can only be manual
After controlling unmanned plane to reach cargo location, whether artificial judgment goods has arrived the scope that device can grip, manually opened goods folder
Take device, can not automatic decision goods whether be in " loaded " position, so as to automatically turn on goods gripping.
The content of the invention
For the deficiency of current clamp device, the utility model aims to provide a kind of suction means, and espespecially one kind is loaded into
The automatic sucking device of unmanned plane.
The technical solution adopted in the utility model is：A kind of automatic sucking device for being loaded into unmanned plane, described is automatic
Suction means includes being loaded in the supporting mechanism of unmanned plane and the supersonic sounding mechanism on supporting mechanism, supersonic sounding machine
Absorption module is installed on structure；Described supporting mechanism includes support frame and the support frame connecting plate at the top of support frame,
Supersonic sounding mechanism is installed, described support frame bottom is provided with shock absorbing pipe inside support frame；Described supersonic sounding mechanism
Including the high-order ultrasound measurement module installed in support frame inner upper and the low level below high-order ultrasound measurement module
Ultrasound measurement module；Described absorption module and the coplanar installation of low level ultrasound measurement module, mainly include electromagnet supporting plate and pacify
Electromagnet mounted in electromagnet supporting plate bottom.
Described support frame is in semi-surrounding structure, by two in semi-surrounding structure and the support bar structure for the placement that is parallel to each other
Into.
Described supported on both sides bar bottom is separately installed with shock absorbing pipe.
Described high-order ultrasound measurement module includes the fixed plate, fixed plate or so two for the strip being arranged on support frame
The bottom at end is separately installed with ultrasonic sensing device and extends in the outside of support frame.
Described low level ultrasound measurement module is arranged on middle part in support frame, is fixedly mounted on by middle drive support high-order super
The lower section of sound ranging module.
The low level ultrasound measurement module includes ultrasonic sensing device.
Described electromagnet supporting plate is regular quadrilateral plate, and low level ultrasound measurement module is arranged on electromagnet supporting plate bottom
Middle face.
Described electromagnet is three cylindrical electromagnet, and three electromagnet are in centered on low level ultrasound measurement module
Equilateral square is coplanar to be arranged on low level ultrasound measurement module periphery.
Described support frame connecting plate is loaded on unmanned plane after being connected with unmanned plane.
Described shock absorbing pipe is the elastic tube that by-level both ends tilt, and two shock absorbing pipe bottom surfaces are concordant.
The beneficial effects of the utility model are：The utility model is using two groups of supersonic sounding moulds for being located at Different Plane height
Block, be easy to detect cargo location and judged, using ranging data and two groups of module height difference values carry out data analyses,
Integrate, be advantageous to goods positioning, suction means is moved to goods and be adapted within the scope of absorption, so as to be postponed certainly in acknowledgement bit
Dynamic goods of opening is drawn；Meanwhile absorption module of the present utility model is filled using three sizes, magnetic force identical electromagnet around absorption
Put central point to design in equilateral triangle shape be set with, the scope that device draws goods, and the absorption goods of fast and stable can be increased
Thing, advantageously ensure that module can be drawn to goods to a greater degree, while be advantageous to make center of gravity be maintained among unmanned plane, reduce
Influence to unmanned plane stabilized flight；Electromagnet is used in combination with two groups of ultrasound measurement modules, the inspection of cargo location can be achieved
Survey, judge and position, be easy to draw goods in the range of goods is adapted to draw；The excitatory absorption goods of coil electricity, power-off are gone
Magnetic is unloaded, and not only operates fast and convenient, and can hold goods while not damage goods stable, simple structure, detection and
Control can reduce the manufacture maintenance cost of load-carrying device.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Fig. 2 is that the utility model is loaded into structural representation when on unmanned plane.
Accompanying drawing marks explanation：1- support frame connecting plates, 2- support frames, 3- shock absorbing pipes, 4- high position ultrasound measurement modules, 5- are low
Position ultrasound measurement module, 6- electromagnet supporting plates, 7- electromagnet, 8- fixed plates, drives support, 10- unmanned planes, 11- goods in 9-.
Embodiment
A kind of automatic sucking device for being loaded into unmanned plane 10, described automatic sucking device include being loaded in unmanned plane 10
Supporting mechanism and the supersonic sounding mechanism on supporting mechanism, absorption module is installed in supersonic sounding mechanism.
Described supporting mechanism includes support frame 2 and the connecting plate 1 of support frame 2 installed in the top of support frame 2, support frame 2
Whole suction means is loaded on unmanned plane 10 by connecting plate 1 after being connected with unmanned plane 10, and ultrasonic survey is provided with inside support frame 2
Spacing mechanism, described support frame 2 are in semi-surrounding structure, by two in semi-surrounding structure and the support bar structure for the placement that is parallel to each other
Shock absorbing pipe 3 is separately installed with into the support bar bottom of, both sides, shock absorbing pipe 3 is the elastic tube that by-level both ends tilt, two
The bottom surface of bar shock absorbing pipe 3 is concordant.
Described supersonic sounding mechanism includes the high-order ultrasound measurement module 4 and installation installed in the inner upper of support frame 2
Low level ultrasound measurement module 5 below high-order ultrasound measurement module 4；Ultrasonic distance measuring module is that ultrasonic sensor is used
System module, it is possible to understand that into being a kind of drive circuit, ultrasonic distance measuring module is exactly that processor gives ultrasonic wave certain frequency, so
Module is issued by the sound that people can't hear afterwards, is exactly ultrasonic wave, is returned to after object is encountered, and this when, module received this letter
Number processor is returned to, in ranging process, ultrasonic sensor is responsible for disturbance of perception thing and measurement and the distance of barrier, keeps away
Open obstacle.Ultrasonic sensor is as bat ultrasonic wave, and whole sensor is by being responsible for transmitting ultrasound and being responsible for receiving ultrasound two
It is grouped into, can calculates and obtain and obstacle distance according to transmitting and the time difference received, so as to collision free, even thoroughly
Bright object also can correctly sense pre-decelerating；High-order ultrasound measurement module 4 includes the fixation for the strip being arranged on support frame 2
Plate 8, the bottom of the left and right ends of fixed plate 8 are separately installed with ultrasonic sensing device and extend in the outside of support frame 2, low level ultrasound
Range finder module 5 is arranged on middle part in support frame 2, and the lower section of high-order ultrasound measurement module 4 is fixedly mounted on by middle drive support 9,
Low level ultrasound measurement module 5 includes ultrasonic sensing device.
Described absorption module and the 5 coplanar installation of low level ultrasound measurement module, are mainly arranged on including electromagnet supporting plate 6
The electromagnet 7 of the bottom of electromagnet supporting plate 6, electromagnet supporting plate 6 are regular quadrilateral plate, and low level ultrasound measurement module 5 is installed
In the middle part of the bottom surface of electromagnet supporting plate 6, electromagnet 7 is three cylindrical electromagnet 7, and three electromagnet 7 are surveyed with low level ultrasound
The periphery of low level ultrasound measurement module 5 is arranged on away from being in that equilateral square is coplanar centered on module 5.
When carrying out automatic sucking loading goods 11 using the utility model, first, by three electromagnet 7 under supporting plate 6
Disposed around central point by triangle；Then, unmanned plane 10 is with the pattern of hovering low-latitude flying near target goods 11, by super
Sound ranging module detection numerical value carries out data analysis, integrated；Subsequently, judged to draw goods 11 whether positioned at absorption according to data
Below device, if goods 11 is located at below suction means, unmanned plane 10 drop to the top plane of goods 11；Then, electromagnet 7
The magnetization that is powered attracts the ferromagnetic material for being fixedly mounted on the upper surface of goods 11 to drive goods 11 to be sucked；Inhale nobody after goods 11
Machine 10 is flown to after destination automatically with destination offline mode, and magnetic dumping goods 11 is removed in the power-off of electromagnet 7, and goods 11 is parked in mesh
Mark in region, the automatic sucking of goods 11, transport, off-bearger complete.More particularly, the thin slice of one block of ferromagnetic material is fixed
In the upper surface central area of goods 11, unmanned plane 10 with hovering flight mode flight near above the present position of goods 11, two
Group ultrasound measurement module starts ranging work, treats that high-order ultrasound measurement module 4 measures numerical value and is in low level ultrasound measurement module 5
The height difference that the difference integrated between numerical value is more than between two groups of ultrasound measurement modules is measured, then proves have below suction means
Goods 11 disposes；If two groups of ultrasound measurement modules measure height difference of the difference equal or nearly equal to two groups of modules of numerical value,
Then disposed below device without goods 11；After detecting goods 11, the energization magnetization of electromagnet 7 of module is drawn, and is slowly drop to
The top plane of goods 11, attract the ferromagnetic material on goods 11 to carry out absorption goods 11 by electromagnet 7 and act, while inhale goods and refer to
Show that lamp lights；With the automatic offline mode of destination, the low overhead in destination is arrived in flight to unmanned plane 10 automatically, and electromagnet 7 powers off degaussing and unloaded
Goods, goods 11 are parked in target area, and the automatic sucking of goods 11, transport, unloading are completed.
The utility model uses two groups of ultrasound measurement modules for being placed in Different Plane height, is easy to carry out the position of goods 11
Detection and judgement, carry out data analyses with two groups of module height difference values using ranging data, integrate, it is fixed to be advantageous to goods 11
Position, being easy to, which makes suction means be moved to goods 11, is adapted within the scope of drawing, so as to postpone automatic opening goods in acknowledgement bit
11 draw；Other suction means is in equilateral triangle around suction means central point using three sizes, magnetic force identical electromagnet 7
Shape be set with designs, and can increase the scope that device draws goods 11, and the absorption goods 11 of fast and stable, advantageously ensure that device
Goods 11 can be drawn to a greater degree, while is advantageous to make center of gravity be maintained among unmanned plane 10, reduced steady to unmanned plane 10
Surely the influence flown；The module of electromagnet 7 is used in combination with two groups of ultrasound measurement modules, the detection of the achievable position of goods 11,
Judge and position, be easy to draw goods 11 in the range of goods 11 is adapted to draw；Coil electricity is excitatory to draw goods 11, power-off
Degaussing is unloaded, and not only operates fast and convenient, and can hold goods 11 while not damage goods 11 stable, simple structure,
Detection and control can reduce the manufacture maintenance cost of load-carrying device.
Using the utility model need to draw three centre of surface regions of target goods 11 during loading, otherwise can cause whole
The body weight heart produces larger deviation with the center of unmanned plane 10, causes unmanned plane 10 can not keep balance and stability, institute in flight course
There is the upper surface central area that suction means must be made to draw goods 11；Unmanned plane 10 is in target goods 11 nearby with the pattern of hovering
During low-latitude flying, automatic sucking device needs that the position of goods 11 is detected, judged and positioned, and just can guarantee that automatic suction
Picking thing 11 is working properly；Goods 11 is transported to after destination, need to power off goods 11 being unloaded to target area.
It is described above, only it is preferred embodiment of the present utility model, not technical scope of the present utility model is made any
Limitation, the technical staff of the industry, under the inspiration of the technical program, some deformations and modification can be made, it is every according to this
Any modification, equivalent variations and the modification that embodiment of the technical spirit of utility model to more than is made, still fall within this practicality
In the range of new technique scheme.
Claims (10)
- A kind of 1. automatic sucking device for being loaded into unmanned plane, it is characterised in that：Described automatic sucking device includes being loaded in The supporting mechanism of unmanned plane and the supersonic sounding mechanism on supporting mechanism, absorption mould is installed in supersonic sounding mechanism Block；Described supporting mechanism includes support frame and the support frame connecting plate at the top of support frame, is provided with inside support frame Supersonic sounding mechanism, described support frame bottom are provided with shock absorbing pipe；Described supersonic sounding mechanism is included installed in the high-order ultrasound measurement module of support frame inner upper and installed in a high position Low level ultrasound measurement module below ultrasound measurement module；Described absorption module and the coplanar installation of low level ultrasound measurement module, are mainly arranged on electromagnet including electromagnet supporting plate The electromagnet of supporting plate bottom.
- A kind of 2. automatic sucking device for being loaded into unmanned plane according to claim 1, it is characterised in that：Described support Frame is in semi-surrounding structure, is formed by two in semi-surrounding structure and the support bar for the placement that is parallel to each other.
- A kind of 3. automatic sucking device for being loaded into unmanned plane according to claim 2, it is characterised in that：Described both sides Support bar bottom is separately installed with shock absorbing pipe.
- A kind of 4. automatic sucking device for being loaded into unmanned plane according to claim 1, it is characterised in that：A described high position Ultrasound measurement module includes the fixed plate for the strip being arranged on support frame, and the bottom of fixed plate left and right ends is separately installed with Ultrasonic sensing device and the outside for extending in support frame.
- A kind of 5. automatic sucking device for being loaded into unmanned plane according to claim 1, it is characterised in that：Described low level Ultrasound measurement module is arranged on middle part in support frame, and the lower section of high-order ultrasound measurement module is fixedly mounted on by middle drive support.
- A kind of 6. automatic sucking device for being loaded into unmanned plane according to claim 1 or 5, it is characterised in that：It is described low Position ultrasound measurement module includes ultrasonic sensing device.
- A kind of 7. automatic sucking device for being loaded into unmanned plane according to claim 1, it is characterised in that：Described electromagnetism Iron supporting plate is regular quadrilateral plate, and low level ultrasound measurement module is arranged in the middle part of electromagnet supporting plate bottom surface.
- A kind of 8. automatic sucking device for being loaded into unmanned plane according to claim 1, it is characterised in that：Described electromagnetism Iron is three cylindrical electromagnet, and three electromagnet are in the coplanar installation of equilateral square centered on low level ultrasound measurement module In low level ultrasound measurement module periphery.
- A kind of 9. automatic sucking device for being loaded into unmanned plane according to claim 1, it is characterised in that：Described support Frame connecting plate is loaded on unmanned plane after being connected with unmanned plane.
- A kind of 10. automatic sucking device for being loaded into unmanned plane according to claim 3, it is characterised in that：Described keeps away The elastic tube that shake pipe tilts for by-level both ends, two shock absorbing pipe bottom surfaces are concordant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720861277.2U CN206954515U (en) | 2017-07-17 | 2017-07-17 | A kind of automatic sucking device for being loaded into unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720861277.2U CN206954515U (en) | 2017-07-17 | 2017-07-17 | A kind of automatic sucking device for being loaded into unmanned plane |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206954515U true CN206954515U (en) | 2018-02-02 |
Family
ID=61384576
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720861277.2U Expired - Fee Related CN206954515U (en) | 2017-07-17 | 2017-07-17 | A kind of automatic sucking device for being loaded into unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206954515U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383801A (en) * | 2018-10-11 | 2019-02-26 | 刘鸣 | A kind of dish-style cargo transport aircraft |
| CN111169641A (en) * | 2020-03-10 | 2020-05-19 | 无锡汉和航空技术有限公司 | Commodity circulation unmanned aerial vehicle's device that drops |
| CN112722255A (en) * | 2021-01-14 | 2021-04-30 | 江门职业技术学院 | Unmanned aerial vehicle places recovery unit and has device's traffic awl subassembly |
-
2017
- 2017-07-17 CN CN201720861277.2U patent/CN206954515U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109383801A (en) * | 2018-10-11 | 2019-02-26 | 刘鸣 | A kind of dish-style cargo transport aircraft |
| CN111169641A (en) * | 2020-03-10 | 2020-05-19 | 无锡汉和航空技术有限公司 | Commodity circulation unmanned aerial vehicle's device that drops |
| CN112722255A (en) * | 2021-01-14 | 2021-04-30 | 江门职业技术学院 | Unmanned aerial vehicle places recovery unit and has device's traffic awl subassembly |
| CN112722255B (en) * | 2021-01-14 | 2022-08-16 | 江门职业技术学院 | Unmanned aerial vehicle places recovery unit and has device's traffic awl subassembly |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 Termination date: 20210717 |
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| CF01 | Termination of patent right due to non-payment of annual fee |