CN215155659U - Unmanned aerial vehicle cargo transfer system and building - Google Patents
Unmanned aerial vehicle cargo transfer system and building Download PDFInfo
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- CN215155659U CN215155659U CN202121464386.3U CN202121464386U CN215155659U CN 215155659 U CN215155659 U CN 215155659U CN 202121464386 U CN202121464386 U CN 202121464386U CN 215155659 U CN215155659 U CN 215155659U
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Abstract
The utility model relates to an unmanned aerial vehicle goods transfer system and building, unmanned aerial vehicle goods transfer system is including goods transport mechanism (10) and the equipment room (20) that are used for docking unmanned aerial vehicle, vertical transport module (101) of goods transport mechanism (10) extend into in the equipment room (20), still be provided with the mechanism of plugging into that is used for docking unmanned car in the equipment room (20), be provided with multiaxis robot (30) in the mechanism of plugging into, with vertical transport module (101) with park and convey the goods between unmanned car (100) outside the equipment room (20). Through above-mentioned technical scheme, the unmanned aerial vehicle cargo transfer system that this disclosure provided is suitable for accomplishing the handing-over of goods in narrow and small space.
Description
Technical Field
The utility model relates to the technical field of the robot, specifically, relate to an unmanned aerial vehicle cargo transfer system and building.
Background
The mechanical arm is a complex system with high precision, multiple inputs, multiple outputs, high nonlinearity and strong coupling. Because of its unique operational flexibility, it has been widely used in the fields of industrial assembly, safety and explosion protection.
At present, carrying robots in the market mostly adopt six-degree-of-freedom mechanical arms, the tail ends of the mechanical arms are connected with actuators, the carrying robots can work in various application scenes, and the carrying robots have the characteristics of good universality and high precision. However, the six-degree-of-freedom robot arm occupies a large space, requires a large space for work, is not suitable for cargo transportation in a narrow space, and is largely wasted in economic efficiency in a take-out scene where the amount of tasks is not large and continuous repetitive work is not required.
For another SCARA (Selective Compliance Robot Arm) Robot in the market, the cost is low, but the load capacity and the motion space are small, so that the SCARA Robot is not suitable for take-out scenes.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an unmanned aerial vehicle cargo transfer system and building are suitable for and accomplish the handing-over of goods in narrow and small space.
In order to realize the above-mentioned purpose, this disclosure provides an unmanned aerial vehicle cargo transfer system, including the goods transport mechanism and the equipment room that are used for docking unmanned aerial vehicle, goods transport mechanism's vertical transport module extends into in the equipment room, still be provided with the mechanism of plugging into that is used for docking unmanned vehicle in the equipment room, be provided with the multiaxis robot in the mechanism of plugging into, with vertical transport module with park and convey the goods between the unmanned vehicle outside the equipment room.
Optionally, the multi-axis robot comprises a base, a swing arm rotatably mounted to the base about a first vertical axis, a lift arm movably mounted to the swing arm in a vertical direction, a telescopic arm comprising a distal portion pivotably connected to a tip of the lift arm about a second vertical axis, and a proximal portion movably connected to the distal portion and provided with the handling device.
Optionally, the articulated arm is mounted to the base for movement in a lateral direction for approaching or distancing from the unmanned vehicle.
Optionally, the multi-axis robot comprises a drive mechanism, the drive mechanism comprising: the first driving mechanism is used for driving the rotary arm to move along the transverse direction, the second driving mechanism is used for driving the rotary arm to rotate, the third driving mechanism is used for driving the lifting arm to move along the vertical direction, the fourth driving mechanism is used for driving the distal end part to pivot, and the fifth driving mechanism is used for driving the proximal end part to be close to or far away from the distal end part.
Optionally, the base extends in the transverse direction, the first driving mechanism is arranged on the base, the output end of the first driving mechanism is connected with the rotary arm, an installation seat used for installing the second driving mechanism is arranged at the bottom of the rotary arm, a groove extending in the transverse direction is formed in the base, and the output end of the first driving mechanism extends out of the groove and is connected with the installation seat.
Optionally, the lifting arm is provided with an installation through hole, and the revolving arm is arranged through the installation through hole and provided with a guide structure between the revolving arm and the lifting arm.
Optionally, the first drive mechanism and/or the third drive mechanism and/or the fifth drive mechanism is configured as a linear module, and the second drive mechanism and/or the fourth drive mechanism is configured as a rotary electric machine.
Optionally, the lifting arm comprises a connecting end connected with the swivel arm, and the connecting end is provided with a balancing weight.
Optionally, the handling device comprises two gripping arms and a driving device for driving the two gripping arms to move towards or away from each other.
On the basis of the technical scheme, this disclosure still provides a building, the building is provided with the electric well, be provided with above-mentioned unmanned aerial vehicle cargo handling system in the electric well, the equipment position in the bottom of electric well, it has the parking area that is used for unmanned car to park to form between the equipment room.
Through the technical scheme, the unmanned aerial vehicle cargo transfer system that this disclosure provided can realize transporting the goods behind unmanned aerial vehicle and unmanned vehicle, at the during operation, the goods that get off from unmanned aerial vehicle goes up the uninstallation delivers to the equipment room in through the vertical transport module of goods transport mechanism, the multiaxis robot that is arranged in the equipment room is in the unmanned vehicle outside from vertical transport module transmission to the equipment room with the goods, in addition, the goods that are arranged in unmanned vehicle also can convey to vertical transport module and convey the goods to unmanned aerial vehicle in through vertical transport module through the multiaxis robot. Through the unmanned aerial vehicle cargo transfer system that this disclosure provided can realize handing-over goods in narrow and small space, satisfy the butt joint demand of unmanned aerial vehicle and unmanned car.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:
fig. 1 is a schematic structural diagram of an unmanned aerial vehicle cargo transferring system provided in an embodiment of the present disclosure;
fig. 2 is a schematic structural diagram of a multi-axis robot in an unmanned aerial vehicle cargo transfer system provided in an embodiment of the present disclosure.
Description of the reference numerals
10-a cargo transfer mechanism; 101-a vertical transport module; 20-equipment room; 30-a multi-axis robot; 301-a base; 3011-grooving; 302-a swivel arm; 303-a lifting arm; 304-a telescopic arm; 3041-a distal part; 3042-a proximal portion; 305-a handling device; 3051-a gripper arm; 306-a mount; 307-a counterweight block; 100-unmanned vehicle.
Detailed Description
The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.
In the present disclosure, the use of directional terms such as "inner and outer" means "inner and outer" with respect to the corresponding profile of the component itself, unless otherwise specified. Further, the terms "distal and proximal" in the terms "distal portion 3041" and "proximal portion 3042" are defined with respect to the position of the telescoping arm 304 relative to the cargo, with the orientation "proximal" to the cargo and "distal" away from the cargo. Furthermore, the terms "first," "second," "third," "fourth," "fifth," and the like as used herein are intended to distinguish one element from another, and are not necessarily sequential or significant. Furthermore, in the following description, when referring to the figures, the same reference numbers in different figures denote the same or similar elements, unless otherwise explained. The foregoing definitions are provided to illustrate and describe the present disclosure only and should not be construed to limit the present disclosure.
According to the specific embodiment of the present disclosure, referring to fig. 1 and 2, there is provided an unmanned aerial vehicle cargo transferring system, including a cargo conveying mechanism 10 for docking an unmanned aerial vehicle and an equipment room 20, wherein a vertical conveying module 101 of the cargo conveying mechanism 10 extends into the equipment room 20, a docking mechanism for docking an unmanned vehicle 100 is further provided in the equipment room 20, and a multi-axis robot 30 is provided in the docking mechanism to convey cargo between the vertical conveying module 101 and the unmanned vehicle 100 parked outside the equipment room 20.
Through the technical scheme, the unmanned aerial vehicle cargo transfer system that this disclosure provided can realize transporting the goods behind unmanned aerial vehicle and unmanned vehicle 100, at the during operation, the goods that get off the unloading from unmanned aerial vehicle send to in 20 equipment rooms through the vertical transport module 101 of goods transport mechanism 10, the multiaxis robot 30 that is arranged in 20 equipment rooms transmits the goods from vertical transport module 101 to the unmanned vehicle 100 outside 20 equipment rooms, in addition, the goods that are arranged in unmanned vehicle 100 also can convey to vertical transport module 101 and convey the goods to unmanned aerial vehicle in through vertical transport module 101 through multiaxis robot 30. Through the unmanned aerial vehicle cargo transfer system that this disclosure provided can realize handing-over goods in narrow and small space, satisfy unmanned aerial vehicle and unmanned vehicle 100's butt joint demand.
In the specific embodiments provided by the present disclosure, the multi-axis robot 30 may be configured in any suitable manner. Alternatively, the multi-axis robot 30 may include a base 301, a swing arm 302, a lifting arm 303, a telescopic arm 304, and a carrying device 305, the swing arm 302 being rotatably mounted to the base 301 about a first vertical axis, the lifting arm 303 being movably mounted to the swing arm 302 in a vertical direction, the telescopic arm 304 including a distal end portion 3041 and a proximal end portion 3042, the distal end portion 3041 being pivotably connected to a distal end of the lifting arm 303 about a second vertical axis, the proximal end portion 3042 being movably connected to the distal end portion 3041 and provided with the carrying device 305. By this design, the multi-axis robot 30 has two rotational joints, which are the rotation of the swing arm 302 with respect to the base 301 and the rotation of the distal end portion 3041 of the telescopic arm 304 with respect to the lift arm 303, respectively, and two linear motion joints, which are the movement of the lift arm 303 in the vertical direction and the movement of the proximal end portion 3042 of the telescopic arm 304 with respect to the distal end portion 3041 of the telescopic arm 304, respectively, i.e., RTRT type. Through two rotary joint's setting, can increase the flexibility of multiaxis robot at unmanned aerial vehicle and unmanned vehicle 100's handing-over in-process, be favorable to transporting the goods between narrow and small space inside and outside to unmanned vehicle 100's the parking position need not set for fixed position, that is to say, at the in-process of handing-over goods, unmanned vehicle 100 can park in a flexible way, and the position that can also park at every turn is not only. In addition, referring to fig. 1, the unmanned vehicle 100 is provided with two upper and lower cargo storage positions, so that the unmanned vehicle 100 can transfer two different users 'cargo or two same users' cargo at a time, which is advantageous for improving the efficiency of transferring the cargo by the unmanned vehicle 100, and in this case, it can be adapted to selectively store the cargo to one of the two storage positions of the unmanned vehicle 100 by the movement of the lifting arm 303 in the vertical direction.
In the process of transferring the goods unloaded by the unmanned aerial vehicle 100 to the unmanned aerial vehicle 100, referring to fig. 1, the vertical transport module 101 in the goods transfer mechanism 10 transfers the goods to the a position shown in fig. 1, the carrying device 305 in the multi-axis robot 30 holds the goods at the a position and moves on the swivel arm 302 in the vertical direction through the lifting arm 303 to transfer the goods from the a position to the B position, then, the swivel arm 302 swivels around the first vertical axis to rotate the lifting arm 303 and the telescopic arm 304 towards the unmanned aerial vehicle 100 and rotate the distal end portion 3041 of the telescopic arm 304 around the second vertical axis, after the goods held by the carrying device 305 are rotated to the position, namely, the goods held by the carrying device 305 are opposite to the unmanned aerial vehicle 100, wherein the C position and the D position in the unmanned aerial vehicle 100 can be used for placing the goods, the lifting arm 303 can selectively move in the vertical direction to align the goods to the selected goods storage position (C position or D position), finally, the proximal end portion 3042 of the telescopic arm 304 moves relative to the distal end portion 3041 to transfer the cargo to the C position or the D position in the unmanned vehicle 100, completing the delivery of the cargo.
In the process of transferring the goods stored in the unmanned vehicle 100 to the unmanned aerial vehicle, the handling device 305 grips the goods located at the C position or the D position, the swing arm 302 swings around the first vertical axis to rotate the lifting arm 303 and the telescopic arm 304 toward the vertical transport module 101 and the distal end portion 3041 of the telescopic arm 304 rotates around the second vertical axis to transfer the goods from the C position or the D position to the B position, then, the lifting arm 303 moves in the vertical direction to transfer the goods from the B position to the a position, and finally, the goods are transferred from the a position to the unmanned aerial vehicle for loading by the vertical transport module 101.
In the embodiment provided by the present disclosure, since the relative distance between the unmanned vehicle 100 and the cargo transfer mechanism 10 is variable, in order to meet the requirement of transferring the cargo between the cargo transfer mechanism 10 and the unmanned vehicle 100, the swivel arm 302 may be further configured to be mounted on the base 301 movably in the transverse direction for approaching or departing from the unmanned vehicle 100, thereby increasing the stroke of the multi-axis robot 30 moving in the transverse direction, which is beneficial for achieving long-distance cargo transfer.
In particular embodiments provided by the present disclosure, in order to enable the multi-axis robot 30 to automatically complete the goods hand-over between the vertical transport module 101 and the unmanned vehicle 100, the multi-axis robot 30 may include a driving mechanism including: the first driving mechanism for driving the swing arm 302 to move in the transverse direction, the second driving mechanism for driving the swing arm 302 to swing, the third driving mechanism for driving the lifting arm 303 to move in the vertical direction, the fourth driving mechanism for driving the distal end portion 3041 to pivot, and the fifth driving mechanism for driving the proximal end portion 3042 to approach or depart from the distal end portion 3041 can realize the operations of the swing arm 302, the lifting arm 303, and the telescopic arm 304 by respectively controlling the operations of the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, and the fifth driving mechanism, thereby realizing the transfer of goods between the vertical transport module 101 and the unmanned vehicle 100.
Referring to fig. 2, the base 301 extends in a transverse direction, the first driving mechanism is disposed on the base 301, and an output end of the first driving mechanism is connected to the rotary arm 302, a mounting seat 306 for mounting the second driving mechanism is disposed at a bottom of the rotary arm 302, a slot 3011 extending in the transverse direction is disposed on the base 301, and an output end of the first driving mechanism extends out of the slot 3011 and is connected to the mounting seat 306, so that the rotary arm 302 is driven by the first driving mechanism to move in the transverse direction relative to the base 301. The first driving mechanism may be configured in any suitable manner, such as a linear motor, a lead screw motor module, an electric telescopic cylinder, etc., and may also be configured to convert the rotation of the motor into a linear motion through a motion conversion device, so as to achieve the movement of the swing arm 302 in the transverse direction, where the motion conversion device may be configured as a lead screw nut transmission structure, a crank-slider mechanism, a rack-and-pinion transmission structure, etc., which is not limited in this disclosure. In an embodiment provided by the present disclosure, the first driving mechanism may be configured as a linear module, wherein the linear module may be a belt type linear module or a screw type linear module, which is not particularly limited by the present disclosure.
Wherein the second driving mechanism may be configured as a rotating motor, an output shaft of which passes through the mounting seat 306 and is coaxially connected with the swivel arm 302 to drive the swivel arm 302 to rotate around the first vertical axis.
In the specific embodiment provided by the present disclosure, the lifting arm 303 is provided with a mounting through hole, and the swivel arm 302 is disposed through the mounting through hole and provided with a guiding structure between the swivel arm 302 and the lifting arm 303 to guide the lifting arm 303 to move in a vertical direction. Wherein the guide structure may be configured in any suitable manner, such as cooperating slide rails and sliders, etc., to which the present disclosure is not particularly limited.
The third driving mechanism is fixed to the swing arm 302 and may be configured in the same manner as the first driving mechanism, and is not described herein again to avoid redundancy. In an embodiment provided by the present disclosure, the third driving mechanism may be configured as a linear module, wherein the linear module may be a belt type linear module or a screw type linear module, which is not particularly limited by the present disclosure. Taking the third driving mechanism as a screw rod type linear module as an example, the nut of the screw rod type linear module is located between the rotating arm 302 and the lifting arm 303 and is fixedly connected with the lifting arm 303 to drive the lifting arm 303 to move along the vertical direction. Since the third driving mechanism with the highest requirement on space is arranged on the revolving arm 302, the lifting arm 303 and the telescopic arm 304 can be designed to be flat, and the telescopic arm 304 and the carrying device 305 thereon can enter into the small unmanned vehicle to grab goods more easily.
In the embodiment provided by the present disclosure, the fourth driving mechanism is fixedly disposed inside the lifting arm 303 and may be configured as a rotating motor, an output shaft of which passes through the lifting arm 303 to be connected with the distal end portion 3041 of the telescopic arm 304 to drive the distal end portion 3041 of the telescopic arm 304 to rotate around the second vertical axis.
In the particular embodiment provided by the present disclosure, the fifth drive mechanism is disposed between the distal end portion 3041 of the telescopic arm 304 and the proximal end portion 3042 of the telescopic arm 304 and may be configured in the same manner as the first drive mechanism, and will not be described herein in detail to avoid repetition. In an embodiment provided by the present disclosure, the fifth driving mechanism may be configured as a linear module, wherein the linear module may be a belt type linear module or a screw type linear module, which is not particularly limited by the present disclosure. Taking the fifth driving mechanism as a screw-type linear module, a nut of the screw-type linear module is located between the proximal portion 3042 and the distal portion 3041 of the telescopic arm 304 and is fixedly connected to the proximal portion 3042 to drive the proximal portion 3042 to move.
In the embodiment provided by the present disclosure, the lifting arm 303 includes a connecting end connected to the swivel arm 302, and the connecting end may be provided with a weight 307 for offsetting the moment generated by the lifting arm 303, the fourth driving mechanism, the telescopic arm 304, the fifth driving mechanism, and the carrying device 305 as much as possible.
In the specific embodiments provided by the present disclosure, the handling device 305 may be configured in any suitable manner. Alternatively, the carrying device 305 may include two gripper arms 3051 and a driving device for driving the two gripper arms 3051 to approach or separate from each other, and by which a reliable gripping force can be provided when the gripper arms 3051 grip the goods to hold the goods between the two gripper arms 3051.
On above-mentioned technical scheme's basis, this disclosure still provides a building, the building is provided with the electric well, be provided with above-mentioned unmanned aerial vehicle cargo handling system in the electric well, equipment room 20 is located the bottom of electric well, 20 outer parking areas that are used for unmanned car 100 to park that form of equipment room. The building provided by the present disclosure also has the above features, and therefore, in order to avoid repetition, the details are not repeated herein.
The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.
It should be noted that, in the foregoing embodiments, various features described in the above embodiments may be combined in any suitable manner, and in order to avoid unnecessary repetition, various combinations that are possible in the present disclosure are not described again.
In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.
Claims (10)
1. The utility model provides an unmanned aerial vehicle cargo transfer system, is including being used for docking unmanned aerial vehicle's goods transport mechanism (10) and equipment room (20), vertical transport module (101) of goods transport mechanism (10) extend into in equipment room (20), its characterized in that, still be provided with the mechanism of plugging into that is used for docking unmanned vehicle (100) in equipment room (20), be provided with multiaxis robot (30) in the mechanism of plugging into, with vertical transport module (101) with park convey the goods between unmanned vehicle (100) outside equipment room (20).
2. The unmanned cargo transfer system of claim 1, wherein the multi-axis robot (30) comprises a base (301), a swing arm (302), a lifting arm (303), a telescopic arm (304) and a handling device (305), the swing arm (302) is rotatably mounted to the base (301) about a first vertical axis, the lifting arm (303) is movably mounted to the swing arm (302) in a vertical direction, the telescopic arm (304) comprises a distal end portion (3041) and a proximal end portion (3042), the distal end portion (3041) is pivotably connected to a tip of the lifting arm (303) about a second vertical axis, the proximal end portion (3042) is movably connected to the distal end portion (3041) and the handling device (305) is provided.
3. The unmanned aerial vehicle cargo transfer system of claim 2, wherein the articulated arm (302) is mounted to the base (301) for movement in a lateral direction for approaching or distancing from the unmanned vehicle (100).
4. The unmanned aerial vehicle cargo transfer system of claim 3, wherein the multi-axis robot (30) includes a drive mechanism, the drive mechanism comprising: a first driving mechanism for driving the rotary arm (302) to move along the transverse direction, a second driving mechanism for driving the rotary arm (302) to rotate, a third driving mechanism for driving the lifting arm (303) to move along the vertical direction, a fourth driving mechanism for driving the distal end portion (3041) to pivot, and a fifth driving mechanism for driving the proximal end portion (3042) to approach or depart from the distal end portion (3041).
5. The unmanned aerial vehicle cargo transfer system of claim 4, wherein the base (301) extends in a transverse direction, the first driving mechanism is disposed on the base (301) and an output end of the first driving mechanism is connected to the revolving arm (302), a mounting seat (306) for mounting the second driving mechanism is disposed at a bottom of the revolving arm (302), a slot (3011) extending in the transverse direction is disposed on the base (301), and an output end of the first driving mechanism extends out of the slot (3011) and is connected to the mounting seat (306).
6. The unmanned aerial vehicle cargo transfer system of claim 2, wherein the lifting arm (303) is provided with a mounting through hole, the swivel arm (302) is arranged through the mounting through hole and a guiding structure is arranged between the swivel arm and the lifting arm (303).
7. The unmanned cargo transfer system of claim 4, wherein the first drive mechanism and/or the third drive mechanism and/or the fifth drive mechanism is configured as a linear module and the second drive mechanism and/or the fourth drive mechanism is configured as a rotary motor.
8. The unmanned aerial vehicle cargo transfer system of claim 2, wherein the lifting arm (303) comprises a connecting end connected with the slewing arm (302), the connecting end being provided with a counterweight (307).
9. Unmanned aerial vehicle cargo transfer system of claim 2, wherein the handling device (305) comprises two gripper arms (3051) and a drive for driving the two gripper arms (3051) towards or away from each other.
10. A building provided with an electric well, characterized in that the electric well is provided with an unmanned aerial vehicle cargo transferring system according to any of claims 1-9, the equipment room (20) is located at the bottom of the electric well, and the equipment room (20) is formed with a parking area for parking of unmanned vehicles (100).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121464386.3U CN215155659U (en) | 2021-06-29 | 2021-06-29 | Unmanned aerial vehicle cargo transfer system and building |
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| CN202121464386.3U CN215155659U (en) | 2021-06-29 | 2021-06-29 | Unmanned aerial vehicle cargo transfer system and building |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114803419A (en) * | 2022-05-31 | 2022-07-29 | 杭州电子科技大学 | Unmanned aerial vehicle parking apron capable of automatically loading and unloading goods and working method thereof |
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2021
- 2021-06-29 CN CN202121464386.3U patent/CN215155659U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114803419A (en) * | 2022-05-31 | 2022-07-29 | 杭州电子科技大学 | Unmanned aerial vehicle parking apron capable of automatically loading and unloading goods and working method thereof |
| CN114803419B (en) * | 2022-05-31 | 2024-03-26 | 杭州电子科技大学 | Unmanned aerial vehicle parking apron capable of automatically loading and unloading goods and working method thereof |
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