CN109110479B - Unmanned aerial vehicle basic station goods and materials package auto-change over device - Google Patents
Unmanned aerial vehicle basic station goods and materials package auto-change over device Download PDFInfo
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- CN109110479B CN109110479B CN201810728876.6A CN201810728876A CN109110479B CN 109110479 B CN109110479 B CN 109110479B CN 201810728876 A CN201810728876 A CN 201810728876A CN 109110479 B CN109110479 B CN 109110479B
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- 244000309464 bull Species 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 abstract description 5
- 244000208734 Pisonia aculeata Species 0.000 description 13
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012856 packing Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/82—Rotary or reciprocating members for direct action on articles or materials, e.g. pushers, rakes, shovels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Manipulator (AREA)
- Vending Machines For Individual Products (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicle base stations, and particularly relates to a switching device for material packages of an unmanned aerial vehicle base station, which comprises: platform, locking device, manipulator and revolving stage, be provided with goods and materials package entry on the platform, goods and materials package switches mouth and goods and materials package export, and rotate on the platform and be connected with the revolving stage, be provided with the manipulator on the revolving stage, the manipulator is used for snatching the goods and materials package, the goods and materials package passes through locking device and is connected with the unmanned aerial vehicle frame, can realize driving the manipulator through the revolving stage and rotate, make the manipulator towards goods and materials package entry, goods and materials package switches mouth or goods and materials package export, grasp goods and materials package and push the unmanned aerial vehicle frame through the manipulator, thereby realize the change of the goods and materials package that unmanned aerial vehicle carried, adapt to different rescue condition needs, carry goods and materials through unmanned aerial vehicle and arrive accident site, and put in goods and materials to accident site, be used for rescuing goods and.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle base stations, and particularly relates to a switching device for a material bag of an unmanned aerial vehicle base station.
Background
The highway is used as a main channel for connecting cities, needs to pass through a road section with less population, is isolated by adopting the guardrail, has high vehicle running speed on the highway, can adapt to the speed of 120 kilometers per hour or higher under the general condition, and generally has the following characteristics: only the automobile can run at high speed; a plurality of lanes are arranged, and a separation belt is arranged in the center of the lane to completely separate the back-and-forth traffic; a three-dimensional intersection is arranged; completely closing, controlling an entrance and an exit, and only allowing automobiles to enter and exit roads at specified three-dimensional intersections; therefore, problems can be caused, once a traffic accident happens on the highway, the accident site is often located on a road section with less population, so that the rescue distance is long, meanwhile, traffic jam caused by the accident can further increase the time for the rescuers to arrive, so that a rescue vacuum time period is generated after the accident happens until the rescuers arrive, the injured people cannot be rescued in the rescue vacuum time period, although simple rescue of nearby people can be achieved, the condition of an illness is aggravated due to lack of needed goods and materials, even the life is threatened, therefore, after the accident happens on the highway, the rescuers arrive in the previous rescue vacuum time period, temporary rescue equipment is provided, and the problem to be solved urgently is solved, so that the unmanned base station for the highway designed by the team provides goods and materials support in the rescue vacuum time period through a mode of putting goods and materials bags by an unmanned aerial vehicle, because unmanned aerial vehicle's bearing capacity is limited, in order to deal with different rescue situations, need carry out the reorganization work that switches to unmanned aerial vehicle's goods and materials package.
Disclosure of Invention
The invention overcomes the defects of the prior art and provides a switching device for a material bag of an unmanned aerial vehicle base station, which is used for switching materials of an unmanned aerial vehicle in an unmanned aerial vehicle base station for putting temporary rescue equipment to an accident site in a rescue vacuum time period after an accident of a highway so as to adapt to different rescue conditions.
The technical scheme of the invention is as follows:
an unmanned aerial vehicle basic station goods and materials package auto-change over device includes: the unmanned aerial vehicle comprises a platform, a locking device, a manipulator and a rotary table, wherein a material bag inlet, a material bag switching port and a material bag outlet are formed in the platform;
the locking device includes: fixed block, slide, round pin body, connecting strip, bull stick, first switch and second switch, two the fixed block set up relatively and with unmanned aerial vehicle frame fixed connection is provided with the connecting strip between two fixed blocks, the connecting strip with the goods and materials package is connected, one of them the fixed block in the level be provided with a plurality of round pin body, be provided with reset spring between round pin body and the fixed block, the round pin body is connected with the bull stick through connecting the rope, the bull stick is fixed on the slide, the slide setting is in the vertical spout on the fixed block, and be provided with the spring between the one end of slide and the fixed block, the other end of slide exposes from the fixed block, forms the first switch that can control locking device to open and close, still be provided with the bull stick motor on the bull stick, the bull stick motor is fixed the slide constitutes the second switch;
the manipulator includes: locating piece, first switch contact, grabbing device and push rod, the one end of push rod is fixed on the revolving stage, the other end and locating piece, grabbing device and the first switch contact of push rod are connected, the tip of locating piece is arc, and the symmetric center position of locating piece puts and is provided with grabbing device, and grabbing device includes: pivot, press from both sides tight piece and press from both sides tight motor, the activity has cup jointed two tight pieces of clamp in the pivot, and two tight piece of clamp set up relatively, and the outside of two tight pieces of clamp all is provided with the spring, press from both sides tight motor and pivot and be connected the drive pivot and two tight piece rotations of clamp, be provided with plane section, changeover portion and the tight section of clamp on pressing from both sides the tight face of clamp piece, first switch contact includes the body of rod and sleeve pipe, the body of rod cup joints in the cover pipe, and is provided with the spring between the body of rod and the sleeve pipe, the sleeve pipe is fixed the stretching out of push rod.
Further, the below of platform still is provided with the goods and materials layer of filling, and the goods and materials is filled the in situ and is provided with carousel and goods and materials propelling movement subassembly, is provided with the goods and materials package of a plurality of different types on the carousel, and the goods and materials package can be through goods and materials propelling movement subassembly propelling movement to goods and materials package entry or goods and materials package export.
Further, annular array is provided with a plurality of goods and materials groove on the carousel, and different kinds of goods and materials package has been deposited respectively to a plurality of goods and materials inslot, the upper end in goods and materials groove is complete opening, and the lower extreme in goods and materials groove is partial opening, and partial open-ended edge is used for accepting the goods and materials package, goods and materials propelling movement subassembly includes vertical subassembly, vertical subassembly sets up goods and materials groove below, vertical subassembly can pass partial opening upwards pushes up the goods and materials package and lifts to goods and materials package entry or from goods and materials package exit and accept the goods and materials package and fall into the goods and materials inslot.
Further, the vertical assembly includes: the vertical push rod and the vertical push rod disk, the extending end of the vertical push rod is connected with the vertical push rod disk, and the vertical push rod disk can penetrate through the partial opening.
The invention has the beneficial effects that:
1) the invention relates to a switching device for material packages of an unmanned aerial vehicle base station, which comprises: platform, locking device, manipulator and revolving stage, be provided with goods and materials package entry, goods and materials package switching port and goods and materials package export on the platform, and rotate on the platform and be connected with the revolving stage, be provided with the manipulator on the revolving stage, the manipulator is used for snatching the goods and materials package, the goods and materials package passes through locking device and is connected with the unmanned aerial vehicle frame, and from this structure, can realize driving the manipulator through the revolving stage and rotate, make the manipulator towards goods and materials package entry, goods and materials package switching port or goods and materials package export, grasp the goods and materials package and push to the unmanned aerial vehicle frame through the manipulator, thereby realize the change of the goods and materials package that unmanned aerial vehicle carried, adapt to different rescue.
2) The locking device of the unmanned aerial vehicle base station material bag switching device is fixedly connected with an unmanned aerial vehicle frame through two oppositely arranged fixed blocks, a connecting strip connected with a material bag is arranged between the two fixed blocks, a plurality of pin bodies are horizontally arranged in the fixed blocks, a return spring is arranged between each pin body and the corresponding fixed block, each pin body is connected with a rotating rod through a connecting rope, each rotating rod is fixed on a sliding seat, each sliding seat is arranged in a vertical sliding groove in the corresponding fixed block, a spring is arranged between one end of each sliding seat and the corresponding fixed block, the other end of each sliding seat is exposed out of the corresponding fixed block, a first switch capable of controlling the locking device to be opened and closed is formed, a rotating rod motor is further arranged on each rotating rod, and each rotating rod motor is fixed on the corresponding sliding seat to form a second switch, so that the locking device can be opened or closed through the first switch or the second, when carrying out the goods and materials and putting in, can rotate through second switch drive bull stick, the pulling round pin body is opened locking device and is carried out the goods and materials and put in, make the slide through first switch when carrying out the goods and materials package to unmanned aerial vehicle and switching, the bull stick pulling round pin body is opened locking device, the switching of entering into the goods and materials package, make locking device have two kinds of switch structures, adopt one set of locking device to have two sets of switch structures's mode, satisfy the switch needs when the goods and materials are put in or the goods and materials switch promptly, the structure has been simplified again, avoid using two sets of locking device and increase unmanned aerial vehicle's weight.
3) The manipulator of the present invention comprises: locating piece, first switch contact, grabbing device and push rod, the one end of push rod is fixed on the revolving stage, and the other end and locating piece, grabbing device and the first switch contact of push rod are connected, and the tip of locating piece is arc, and the symmetric center position of locating piece puts and is provided with grabbing device, and grabbing device includes: a rotating shaft, two clamping blocks and a clamping motor, wherein the rotating shaft is movably sleeved with the two clamping blocks which are oppositely arranged, and springs are arranged at the outer sides of the two clamping blocks, a clamping motor is connected with the rotating shaft to drive the rotating shaft and the two clamping blocks to rotate, a plane section, a transition section and a clamping section are arranged on the clamping surface of each clamping block, the push rod comprises a rod body and a sleeve, the rod body is sleeved in the sleeve, a spring is arranged between the rod body and the sleeve, the sleeve is fixed on the extending end of the push rod, with the structure, the gripping device is pushed to the material bag by the push rod, the gripping device grips the connecting strip on the material bag by the two clamping blocks, the rotation through pressing from both sides tight piece realizes pulling goods and materials package and locating piece contact backward in the centre gripping, fixes a position the goods and materials package through the arc surface of locating piece front end, accomplishes the location between goods and materials package and the manipulator when carrying out the centre gripping to the goods and materials package.
Drawings
Fig. 1 is a schematic view of an overall structure of a material bag switching device of an unmanned aerial vehicle base station;
FIG. 2 is a schematic view of the locking device of FIG. 1 after being connected to a material bag;
FIG. 3 is a schematic view of the end of the robot of FIG. 1;
FIG. 4 is a schematic view of the clamping block of FIG. 3;
FIG. 5 is a schematic structural diagram of a fifth embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a sixth embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a seventh embodiment of the present invention;
FIG. 8 is a schematic diagram of the first and second switches of FIG. 2;
in the figure: 1-a platform; 2-a locking device; 3-a manipulator; 4-a turntable; 5-material filling layer; 6-material bag; 21-fixing block; 22-a slide; 23-a pin body; 24-a connecting strip; 25-rotating rod; 26-a first switch; 27-a second switch; 31-a positioning block; 32-a first switch contact; 33-a gripping device; 34-a push rod; 51-a turntable; 52-material pushing assembly; 53-vertical assembly; 331-a rotating shaft; 332-a clamping block; 333-clamping motor; 321-a rod body; 322-a cannula; 511-material tank; 531-vertical pushrod; 532-vertical pusher tray; 3321-plane section; 3322-transition section; 3323-clamping section.
Detailed Description
The invention will be described in detail below with reference to the following drawings:
detailed description of the invention
The unmanned aerial vehicle basic station goods and materials package auto-change over device that this embodiment discloses, it is shown in combination figure 1, include: the unmanned aerial vehicle comprises a platform 1, a locking device 2, a manipulator 3 and a rotary table 4, wherein the platform 1 is provided with a material bag inlet 11, a material bag switching port 12 and a material bag outlet 13, the rotary table 4 is rotatably connected to the platform 1, the manipulator 3 is arranged on the rotary table 4, the manipulator 3 is used for grabbing a material bag, and the material bag is connected with an unmanned aerial vehicle frame through the locking device 2; the platform 1 is used as a platform carrier of the whole device, the locking device 2 is used for connecting a material bag with the unmanned aerial vehicle, the mechanical arm 3 is used for grabbing the material bag 6, the rotary table 4 is used for changing the orientation of the mechanical arm 3, the switching process comprises two working conditions, the material bag is moved out and loaded, when the material bag is moved out, the rotary table 4 rotates to enable the mechanical arm 3 to face the material bag switching port 12 on the platform 1, the unmanned aerial vehicle carries the material bag 6 and is fixed at the material bag switching port 12, the mechanical arm 3 opens the locking device 2 and simultaneously grasps the material bag, the rotary table 4 rotates to enable the mechanical arm 3 to face the material bag outlet 13, and the mechanical arm 3 places the material bag 6 at the material bag outlet 13; when the material bag is filled, the rotary table 4 rotates to enable the mechanical arm 3 to face the material bag inlet 11 on the platform 1, the mechanical arm 3 grabs the material bag to be filled, the unmanned aerial vehicle does not carry the material bag 6 and is fixed at the material bag switching port 12 at the moment, the rotary table 4 rotates to enable the mechanical arm 3 to face the material bag switching port 12, and the mechanical arm 3 opens the locking device 2 and pushes the material bag into the unmanned aerial vehicle; realize filling, shifting out or switching of goods and materials package, when the different tasks of puting in of unmanned aerial vehicle basic station reply, can make unmanned aerial vehicle switch goods and materials package to select the most suitable goods and materials of puting in, improved the rescue efficiency of unmanned aerial vehicle basic station in the rescue vacuum time of highway accident.
As shown in fig. 2 and 8, the locking device 2 includes: fixed block 21, slide 22, the body of round pin 23, connecting strip 24, bull stick 25, first switch 26 and second switch 27, two fixed block 21 set up relatively and with unmanned aerial vehicle frame fixed connection is provided with connecting strip 24 between two fixed blocks 21, connecting strip 24 with the goods and materials package is connected, two fixed blocks 21 intervals set up, form the gap that is used for centre gripping connecting strip 24 between two fixed blocks 21, the both ends in gap are provided with the chamfer, be convenient for connecting strip 24 to slide in, when not right time between connecting strip 24 and the gap, connecting strip 24 can slide in the gap in chamfer department to the deviation that does not adjust well between connecting strip 24 and the gap obtains revising, one of them fixed block 21 in the level be provided with a plurality of the body of round pin 23, be provided with reset spring between the body of round pin 23 and the fixed block 21, reset spring makes the body of round pin 23 keep popping out the state, the body of round pin 23 is connected with bull stick 25 through connecting rope, the rotating rod 25 is fixed on the sliding seat 22, the sliding seat 22 is arranged in a vertical sliding groove on the fixed block 21, a spring is arranged between one end of the sliding seat 22 and the fixed block 21, the spring enables the sliding seat 22 to restore to a specific position in the vertical sliding groove after sliding, the other end of the sliding seat 22 is exposed out of the fixed block 21, a first switch 26 capable of controlling the locking device 2 to be opened and closed is formed, a rotating rod motor is further arranged on the rotating rod 25, and the rotating rod motor is fixed on the sliding seat 22 to form a second switch 27;
the action of the first switch 26 is that the slide 22 is pushed, the slide 22 drives the rotating rod 25 to move towards the vertical sliding chute, the pin body 23 is pulled by the rotating rod 25 to move, so that the locking device 2 is opened, and the second switch 27 slides along with the sliding rod 22 when the slide 22 slides;
the second switch 27 is operated by arranging a worm section on a rotating shaft of the rotating rod motor, wherein the worm section is meshed with a turbine, the turbine is sleeved on the rotating rod 25, the rotating rod 25 is rotated by the rotating rod motor, the rotating rod 25 winds the connecting rope on the rotating rod 25, and the locking device 2 is opened by pulling the pin body 23 to move;
the first switch 26 and the second switch 27 both open the locking device 2 by pulling the pin 23, but the first switch 26 slides the sliding seat 22 to pull the pin 23, so that the action of the first switch 26 can be realized by pushing the sliding seat 22 from the outside, and the locking device 2 is conveniently opened from the outside to move out the material bag when the material bag is switched; the second switch 27 enables the rotating rod 25 to rotate to pull the pin body 23, and the locking device 2 is opened from the inside, so that when the material is thrown, the unmanned aerial vehicle is controlled to be opened by the second switch in a wireless mode to throw the material;
as shown in fig. 3, the robot 3 includes: the positioning device comprises a positioning block 31, a first switch contact 32, a gripping device 33 and a push rod 34, wherein one end of the push rod 34 is fixed on the rotary table 4, the other end of the push rod 34 is connected with the positioning block 31, the gripping device 33 and the first switch contact 32, the end part of the positioning block 31 is arc-shaped, the gripping device 33 is arranged at the symmetrical center of the positioning block 31, and the gripping device 33 comprises: the clamping device comprises a rotating shaft 331, clamping blocks 332 and a clamping motor 333, wherein the rotating shaft 331 is movably sleeved with the two clamping blocks 332, the two clamping blocks 332 are arranged oppositely, springs are arranged on the outer sides of the two clamping blocks 332, the clamping motor 333 is connected with the rotating shaft 331 to drive the rotating shaft 331 and the two clamping blocks 332 to rotate, when grabbing is performed, a manipulator is pushed to a material bag through a push rod 34, in the moving process, a first switch contact 32 is firstly contacted with a first switch 26 to open a locking device 2, then the push rod 34 pushes the manipulator to a positioning block 31 to be stopped at a certain distance from the side face of the material bag, so that a gap is reserved between the positioning block 31 and the side face of the material bag, at the moment, a connecting strip 24 is embedded between the two clamping blocks 332, the rotating shaft 331 is rotated through the clamping motor 333, a long strip-shaped key is arranged on the surface of the rotating shaft 331, key grooves are arranged on the clamping blocks 332, so that the two clamping, the two clamping blocks 332 clamp the connecting strip 24 under the action of the spring, meanwhile, the material bag is pulled towards the positioning block 31 due to the rotation of the clamping blocks 332, so that the side face of the material bag is embedded into the arc-shaped end face of the positioning block 31, and when the material bag and the positioning block are not coaxial, the material bag can slide in the arc-shaped end face of the positioning block 31, so that the material bag is grabbed and the positioning between the material bag and the manipulator is completed;
referring to fig. 4, a plane section 3321, a transition section 3322 and a clamping section 3323 are disposed on a clamping surface of the clamping block 332, the first switch contact 32 includes a rod 321 and a sleeve 322, the rod 321 is sleeved in the sleeve 322, a spring is disposed between the rod 321 and the sleeve 322, and the sleeve 322 is fixed on an extending end of the push rod 34; when the push rod 34 pushes the manipulator to advance, the rod body 321 firstly contacts with the first switch 26, the locking structure 2 is opened, when the push rod 34 continues to advance, the spring is stressed and compressed, the locking mechanism 2 keeps an open state, when a material package is grabbed, the plane sections 3321 of the two clamping blocks 332 oppositely form a gap, so that the connecting strip 24 enters from the gap, when the clamping blocks 332 rotate, the connecting strip 24 slides into the clamping sections 3323 from the transition section 3322, the material package is pulled to the positioning block 31 in the sliding process, the connecting strip is fixed through the two clamping sections 3323, and when the material package is released, the two clamping blocks 332 reversely rotate, so that the clamping sections 3323 are separated from the connecting strip 24.
Detailed description of the invention
In this embodiment, on the basis of the first specific implementation mode, specifically, a material filling layer is further disposed below the platform 1, a rotating disc and a material pushing assembly are disposed in the material filling layer, a plurality of material bags of different types are disposed on the rotating disc, and the material bags can be pushed to a material bag inlet 11 or a material bag outlet 13 by the material pushing assembly;
when carrying out the goods and materials and switching, select the goods and materials package through the rotation of carousel to through goods and materials propelling movement subassembly with goods and materials package propelling movement to platform 1.
Detailed description of the invention
This embodiment is on specific embodiment mode two's basis, specifically, annular array is provided with a plurality of goods and materials groove on the carousel, and a plurality of goods and materials inslot has deposited different kinds of goods and materials package respectively, the upper end in goods and materials groove is complete opening, and the lower extreme in goods and materials groove is partial opening, and partial open-ended edge is used for accepting the goods and materials package, goods and materials propelling movement subassembly includes vertical subassembly, vertical subassembly sets up goods and materials groove below, vertical subassembly can pass partial opening upwards lifts the goods and materials package to goods and materials package entry 11 or accept the goods and materials package from goods and materials package export 13 and fall into the goods and materials inslot.
Detailed description of the invention
On the basis of the third specific implementation manner, in this embodiment, specifically, the vertical assembly includes: the vertical push rod and the vertical push rod disk, the extending end of the vertical push rod is connected with the vertical push rod disk, and the vertical push rod disk can penetrate through the partial opening.
Detailed description of the invention
In this embodiment, on the basis of the first embodiment, specifically, as shown in fig. 5, the first switch contact 32 further includes a retraction device 323, the retraction device 323 is fixedly connected to the sleeve 322, the retraction device 323 includes a retraction reel 3231, a retraction worm wheel 3232, a retraction worm 3233, and a retraction motor 3234, the retraction reel 3231 is fixed to the sleeve 322 by two shaft seats, a rope is wound on the retraction reel 3231, an extended end of the rope passes through the sleeve 322 and then is connected to the rod 321, the retraction reel 3231 is further provided with the retraction worm wheel 3232, the retraction worm wheel 3232 is engaged with the retraction worm 3233, and the retraction worm 3233 is connected to the retraction motor 3234;
when unmanned aerial vehicle was filled in with the goods and materials packing to the manipulator, connecting strip 24 gets into between two fixed blocks 21, pull back body of rod 321 through returning device 323 this moment, make locking device 2 close, the goods and materials package is fixed on unmanned aerial vehicle this moment, clamp piece 332 and make the manipulator relieve the goods and materials package rotating two, make locking device 2 lock goods and materials package before the manipulator is relieved through returning device 323, the rocking of avoiding releasing the in-process production at the manipulator makes the position between connecting strip 24 and two fixed blocks 21 change, lead to the unable locking of locking device 2, when pulling back body of rod 321, sleeve 322 is fixed motionless, guarantee sleeve 322 is to the guide effect of body of rod 321.
Detailed description of the invention
In this embodiment, on the basis of the first specific implementation, specifically, as shown in fig. 6, the first switch contact 32 further includes a pull-back device 324, a sliding block is disposed on the sleeve 322 of the first switch contact 32, the sliding block is embedded in a pull-back slide way 3241 at the front end of the push rod 34, the pull-back slide way 3241 and the push rod 34 have the same extension and retraction direction, so that the first switch contact 32 can slide in the pull-back slide way 3241, the pull-back device 324 is disposed between the first switch contact 32 and the front end of the push rod 34, and the pull-back device 324 includes: the device comprises a pull-back screw rod 3242 and a pull-back motor 3243, wherein the sleeve 322 is connected with the pull-back screw rod 3242 through a sliding block, the pull-back screw rod 3242 is fixed on the push rod 34 through a shaft seat, and the pull-back screw rod 3242 is connected with the pull-back motor 3243;
when unmanned aerial vehicle was filled in with the goods and materials packing to the manipulator, connecting strip 24 gets into between two fixed blocks 21, pull back body of rod 321 through pull-back device 324 this moment, make locking device 2 close, the goods and materials package is fixed on unmanned aerial vehicle this moment, clamp piece 332 and make the manipulator relieve the goods and materials package rotating two, make locking device 2 locking goods and materials package before the manipulator is relieved through returning device 323, the rocking of avoiding releasing the in-process production at the manipulator makes the position between connecting strip 24 and two fixed blocks 21 change, lead to the unable locking of locking device 2, when pulling back body of rod 321, sleeve pipe 322 slides in pull back slide 3241, make the slip more stable.
Detailed description of the invention
In this embodiment, on the basis of the first specific implementation, specifically, as shown in fig. 7, the first switch contact 32 further includes a separating device 325, the first switch contact 32 is connected to the front end of the push rod 34 through the separating device 325, the sleeve 322 is provided with a slider, the slider is sleeved on a separating polished rod 3251, the separating polished rod 3251 is fixed to the front end of the push rod 34, the sleeve 322 is further provided with a separating rack 3252, the separating rack 3252 is connected to a separating motor 3253 through a gear, and the separating motor 3253 is fixedly connected to the front end of the push rod 34;
when unmanned aerial vehicle was filled in with goods and materials packing to the manipulator, connecting strip 24 gets into between two fixed blocks 21, pull back body of rod 321 through separator 325 this moment, make locking device 2 close, goods and materials package is fixed on unmanned aerial vehicle this moment, clamp piece 332 and make the manipulator relieve goods and materials package rotating two, make locking device 2 lock goods and materials package before manipulator releases through separator 325, the rocking of avoiding releasing the in-process production at the manipulator makes the position between connecting strip 24 and two fixed blocks 21 change, lead to the unable locking of locking device 2, when pulling back body of rod 321, lead to through separation polished rod 3251, it is more stable when guaranteeing body of rod 321 to slide.
The above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (4)
1. The utility model provides an unmanned aerial vehicle basic station goods and materials package auto-change over device which characterized in that includes: the unmanned aerial vehicle comprises a platform (1), a locking device (2), a mechanical arm (3) and a rotary table (4), wherein a material bag inlet (11), a material bag switching port (12) and a material bag outlet (13) are formed in the platform (1), the rotary table (4) is connected to the platform (1) in a rotating mode, the mechanical arm (3) is arranged on the rotary table (4), the mechanical arm (3) is used for grabbing a material bag, and the material bag is connected with an unmanned aerial vehicle frame through the locking device (2);
the locking device (2) comprises: fixed block (21), slide (22), the round pin body (23), connecting strip (24), bull stick (25), first switch (26) and second switch (27), two fixed block (21) set up relatively and with unmanned aerial vehicle frame fixed connection is provided with connecting strip (24) between two fixed blocks (21), connecting strip (24) with the goods and materials package is connected, one of them fixed block (21) in the level be provided with a plurality of round pin body (23), be provided with reset spring between round pin body (23) and fixed block (21), round pin body (23) are connected with bull stick (25) through connecting the rope, bull stick (25) are fixed on slide (22), slide (22) set up in the vertical spout on fixed block (21), and be provided with the spring between the one end of slide (22) and fixed block (21), the other end of slide (22) exposes from in fixed block (21), a first switch (26) capable of controlling the locking device (2) to be opened and closed is formed, a rotating rod motor is further arranged on the rotating rod (25), and the rotating rod motor is fixed on the sliding seat (22) to form a second switch (27);
the manipulator (3) comprises: locating piece (31), first switch contact (32), grabbing device (33) and push rod (34), the one end of push rod (34) is fixed on revolving stage (4), and the other end and locating piece (31), grabbing device (33) and first switch contact (32) of push rod (34) are connected, the tip of locating piece (31) is arc, and the symmetrical central point of locating piece (31) puts and is provided with grabbing device (33), and grabbing device (33) include: the switch comprises a rotating shaft (331), two clamping blocks (332) and a clamping motor (333), wherein the rotating shaft (331) is movably sleeved with the two clamping blocks (332), the two clamping blocks (332) are arranged oppositely, springs are arranged on the outer sides of the two clamping blocks (332), the clamping motor (333) is connected with the rotating shaft (331) to drive the rotating shaft (331) and the two clamping blocks (332) to rotate, a plane section (3321), a transition section (3322) and a clamping section (3323) are arranged on a clamping surface of each clamping block (332), the first switch contact (32) comprises a rod body (321) and a sleeve (322), the rod body (321) is sleeved in the sleeve (322), the springs are arranged between the rod body (321) and the sleeve (322), and the sleeve (322) is fixed on the extending end of the push rod (34);
the first switch (26) and the second switch (27) both pull the pin body (23) to open the locking device (2), but the first switch (26) enables the sliding seat (22) to slide to pull the pin body (23), so that the action of the first switch (26) can be realized by pushing the sliding seat (22) from the outside, and the locking device (2) is conveniently opened from the outside to move out a material bag when the material bag is switched; second switch (27) make bull stick (25) rotate and realize pulling round pin body (23), open locking device (2) from inside, are convenient for when carrying out the goods and materials and put in, and unmanned aerial vehicle opens through wireless control second switch and puts in.
2. The unmanned aerial vehicle basic station goods and materials package auto-change over device of claim 1, characterized in that, the below of platform (1) still is provided with goods and materials filling layer, is provided with carousel and goods and materials push assembly in the goods and materials filling layer, is provided with the goods and materials package of a plurality of different types on the carousel, and the goods and materials package can be passed through goods and materials push assembly propelling movement to goods and materials package entry (11) or goods and materials package export (13).
3. The unmanned aerial vehicle basic station goods and materials package auto-change over device of claim 2, characterized in that, annular array is provided with a plurality of goods and materials groove on the carousel, and different kinds of goods and materials package has been deposited respectively in a plurality of goods and materials groove, the upper end in goods and materials groove is complete opening, and the lower extreme in goods and materials groove is partial opening, and partial open-ended edge is used for accepting the goods and materials package, goods and materials propelling movement subassembly includes vertical component, vertical component sets up goods and materials groove below, vertical component can pass partial opening upwards lift the goods and materials package to goods and materials package entry (11) or accept the goods and materials package from goods and materials package export (13) and fall into the goods and materials inslot.
4. The unmanned aerial vehicle base station material package auto-change over device of claim 3, wherein, the vertical subassembly includes: the vertical push rod and the vertical push rod disk, the extending end of the vertical push rod is connected with the vertical push rod disk, and the vertical push rod disk can penetrate through the partial opening.
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