Unmanned goods taking system and self-service goods taking method suitable for aircraft

Abstract

The invention provides an unmanned goods taking system and self-service goods taking method.The unmanned goods taking system comprises the aircraft, a hoisting rope, a winch and a mechanical claw, the aircraft is connected with the mechanical claw through the winch and the hoisting rope, the mechanical claw is used for grabbing goods, and the unmanned goods taking system further comprises an unmanned goods taking device; the unmanned goods taking device comprises a fixture, a goods hanging component and a mechanical claw positioning mechanism, and the fixture is arranged on the ground; according to the self-service goods taking method, when goods are hoisted, the unmanned goods taking device on the ground is used for guiding and positioning the mechanical claw, and the goods grabbing accuracy and stability are improved; the lifting is matched with goods lifting after lifting; unmanned goods taking of an aircraft or an unmanned aerial vehicle can be achieved, the unmanned goods taking device is arranged at the doorway of a business house and can be used in a self-service mode, the equipment manufacturing cost is low, and the unmanned goods taking device is suitable for wide popularization.

Description

Technical Field

[0001] The present invention belongs to the field of cargo-picking mechanical claws, and in particular relates to an unmanned cargo-picking system and a self-service cargo-picking method applicable to aircraft. Background Art

[0002] Aircraft that fly within the atmosphere are called aircraft, such as balloons, airships, and airplanes. Aircraft include unmanned aircraft, also known as "drones," which are unmanned aerial vehicles controlled by radio remote control and self-contained programmable controls. With the continuous development of drone technology, drones are widely used across various industries, including in cargo transfer applications. Currently, aircraft commonly use lifting ropes connected to mechanical grippers. When the grippers grasp cargo, the ropes are unstable and are affected by factors such as the drone's flight speed and wind speed, directly affecting the accuracy of the drone's grasp. Summary of the Invention

[0003] In view of this, the present invention aims to propose an unmanned cargo pickup system and a self-service cargo pickup method suitable for aircraft. When lifting cargo, the unmanned cargo pickup device on the ground provides guidance and positioning for the mechanical claw, thereby improving the accuracy and stability of grabbing cargo; and after lifting, the cargo is lifted to realize self-service cargo pickup on the aircraft.

[0004] To achieve the above objectives, the technical solution of the present invention is implemented as follows: an unmanned cargo retrieval system suitable for aircraft includes an aircraft, a hoisting rope, a winch, and a mechanical claw. The aircraft is connected to the mechanical claw via the winch and hoisting rope, and the mechanical claw is used to grab cargo. The unmanned cargo retrieval device also includes an unmanned cargo retrieval device, which includes a jig, a cargo hanging component, and a mechanical claw positioning mechanism. The jig is set on the ground, the cargo hanging component is set at the bottom of the jig, and the mechanical claw positioning mechanism is set at the top of the jig; The cargo hanging component includes a hanging ring and a hanging ring positioning frame, the hanging ring is used to hang cargo; the hanging ring positioning frame includes a door frame, a support frame and a rotating arm, a rotating arm is respectively provided on both sides of the door frame, and a support frame is respectively provided under the rotating arm, one end of the rotating arm is rotatably connected to the door frame through a rotating shaft assembly, and a hanging ring seat is provided at the other end of the rotating arm, and a groove for placing the hanging ring is provided on the hanging ring seat, and two hanging ring seats are arranged opposite to each other to form a hanging ring placement position; The mechanical claw positioning mechanism includes a conical barrel and an electric cylinder; a conical channel is formed inside the conical barrel, the bottom of the conical channel is upward, the apex is downward, and a through hole is opened at the apex, and the through hole is located directly above the hanging ring placement position; a chuck is provided on the mechanical claw, and the chuck can be clamped in the through hole; the conical barrel is composed of two conical barrel side walls, the upper edge of the conical barrel side wall is rotatably connected to the frame through a rotating shaft assembly, and an electric cylinder is provided on the outside of the conical barrel side wall, and the telescopic rod of the electric cylinder is connected to the conical barrel side wall to drive the conical barrel side wall to open outward.

[0005] Furthermore, the support frame includes a first support rod and a second support rod. The first support rod is arranged at an angle, a rotating arm support seat is arranged at one end, and the other end is fixedly connected to the door frame; the second support rod is horizontally arranged between the door frame and the first support rod.

[0006] Furthermore, the rotating arm support seat is U-shaped as a whole, and the middle part of the rotating arm can fit into the arm support seat.

[0007] Furthermore, the frame includes columns and beams, the columns are arranged around the cone barrel, and the beams are connected between the columns.

[0008] Furthermore, it also includes an electric cylinder fixing frame, which is mounted on the molding frame; the electric cylinder is tilted, the base of the electric cylinder is connected to the fixing frame, and the telescopic rod of the electric cylinder is connected to the side wall of the cone barrel.

[0009] Furthermore, the rotating shaft assembly includes a rotating shaft seat, a rotating shaft and a plug connector. The rotating shaft seat is connected to the door frame, the plug connector is connected to the rotating arm, and the rotating shaft passes through the plug connector, and its two ends are mounted on the rotating shaft seat.

[0010] Furthermore, the mechanical gripper includes an electric gripper, a pneumatic gripper, an electromagnetic chuck or a vacuum chuck.

[0011] Furthermore, a winch is provided on the lifting rope.

[0012] The present invention also provides a self-service pickup method applicable to an aircraft, comprising the following steps: Step 1: The mechanical claw descends into the cone barrel; Step 2: The mechanical claw slides down from the conical channel in the cone barrel to the through hole at the bottom of the cone barrel, and the chuck on the mechanical claw fits into the through hole to position the mechanical claw above the hanging ring placement position; Step 3: Start the mechanical claw to grab the hanging ring; the hanging ring is connected to the goods and is pre-placed in the hanging ring placement position.

[0013] Furthermore, the step 3 further includes the following steps: Step 4: Start the electric cylinder, and the telescopic rod of the electric cylinder drives the side wall of the cone barrel to open outward; Step 5: The aircraft drives the hanging ring and the cargo upwards through the mechanical claws. The cargo pushes the rotating arm open and passes between the two cone barrel side walls in the outward-opening state. Step 6: Start the electric cylinder, and the telescopic rod of the electric cylinder drives the side wall of the cone barrel to reset, so that the side wall of the cone barrel is closed to form the cone barrel; and the rotating arm falls back and resets by its own gravity.

[0014] Compared with the prior art, the unmanned cargo pickup system and self-service cargo pickup method for aircraft described in the present invention have the following advantages: The unmanned cargo pickup system and self-service cargo pickup method suitable for aircraft described in the present invention cooperate with an unmanned cargo pickup device set on the ground to perform the lifting when lifting cargo. The mechanical claw can slide along the inner wall of the cone barrel, and the chuck of the mechanical claw is clamped on the inner wall of the through hole of the cone barrel. The cone barrel and the through hole provide guidance and positioning for the mechanical claw, thereby improving the accuracy of grabbing cargo; and after lifting, the cone barrel opens, and the rising cargo pushes away the rotating arm to cooperate with the cargo lifting, thereby realizing unmanned cargo pickup from the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the overall structure of the self-service pickup system according to an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a hanging ring and a hanging ring positioning frame according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the top view of the conical barrel and the jig according to an embodiment of the present invention.

[0016] Description of reference numerals: 1-aircraft; 2-lifting rope; 201-winch; 3-electric cylinder base connecting bracket; 4-electric cylinder; 5-mechanical claw; 6-hanging ring; 7-hanging ring positioning bracket; 8-cargo; 9-cone barrel side wall; 10-form frame; 11-gantry; 12-spindle assembly; 13-rotating arm; 14-rotating arm support seat; 15-hanging ring seat; 16-groove; 17-second support rod; 18-first support rod; 20-support frame; 21-through hole; 22-chuck; 101-column; 102-crossbeam; 103-spindle seat; 104-spindle; 105-plug connector. DETAILED DESCRIPTION

[0017] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0018] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0019] like Figures 1 to 3 As shown, an unmanned cargo retrieval system suitable for aircraft includes an aircraft 1, a hoisting rope 2, a winch 201, and a mechanical claw 5. The aircraft 1 is connected to the mechanical claw 5 via the winch 201 and the hoisting rope 2. The mechanical claw 5 is used to grab cargo. The unmanned cargo retrieval device also includes an unmanned cargo retrieval device, which includes a frame 10, a cargo hanging component, and a mechanical claw positioning mechanism. The frame 10 is set on the ground, the cargo hanging component is set at the bottom of the frame 10, and the mechanical claw positioning mechanism is set at the top of the frame 10. The cargo hanging component includes a hanging ring 6 and a hanging ring positioning frame 7. The hanging ring 6 is used to hang cargo 8; the hanging ring positioning frame 7 includes a door frame 11, a support frame 20 and a rotating arm 13. The rotating arms 13 are respectively provided on both sides of the door frame 11, and the support frames 20 are respectively provided below the rotating arms 13. One end of the rotating arm 13 is rotatably connected to the door frame 11 through a rotating shaft assembly 12, and a hanging ring seat 15 is provided at the other end of the rotating arm 13. The hanging ring seat 15 is provided with a groove 16 for placing the hanging ring 6. The two hanging ring seats 15 are relatively arranged to form a hanging ring placement position; The mechanical claw positioning mechanism includes a conical barrel and an electric cylinder 4; a conical channel 23 is formed inside the conical barrel, the bottom surface of the conical channel 23 is upward, the top point is downward, and a through hole 21 is opened at the top point, and the through hole 21 is located directly above the hanging ring placement position; a chuck 22 is provided on the mechanical claw 5, and the chuck 22 can be clamped in the through hole 21; the conical barrel is composed of two conical barrel side walls 9, and the upper edge of the conical barrel side wall 9 is rotated through the rotating shaft assembly to connect the frame 10, and the electric cylinder 4 is provided on the outside of the conical barrel side wall 9, and the telescopic rod of the electric cylinder 4 is connected to the conical barrel side wall 9 to drive the conical barrel side wall 9 to open outward.

[0020] It should be further explained that the cone barrel side wall 9 is semi-conical, and the cone barrel side wall 9 includes two cone barrel side walls 9. When the two cone barrel side walls 9 are combined, they form an overall cone barrel with a conical shape.

[0021] The working principle of an unmanned cargo pickup system suitable for aircraft is as follows: the unmanned cargo pickup device is set at the door of the merchant, the cargo is connected to the hanging ring, and the hanging ring is placed in the hanging ring placement position; when the hanging ring is hung with cargo, the hanging ring presses down the hanging ring seat 15 through the cargo's own gravity, and the hanging ring is pressed into the groove 16 of the hanging ring seat 15; when lifting cargo, the drone flies above the unmanned cargo pickup device, and lowers the mechanical claw into the cone barrel. No matter where the mechanical claw falls into the cone barrel, the mechanical claw can slide along the inner wall of the cone barrel. When the mechanical claw falls to the lowest position, the chuck of the mechanical claw is stuck on the inner wall of the through hole of the cone barrel, which guides and positions the mechanical claw, thereby improving the accuracy and stability of the drone in grabbing the cargo; after the mechanical claw grabs the hanging ring, the electric cylinders on both sides are stretched by the telescopic rod to open the side wall of the cone barrel from the middle, and the drone can lift the heavy object, and the heavy object will open the two rotating arms to take the cargo away, completing the unmanned cargo pickup.

[0022] like Figure 2As shown, the support frame 20 includes a first support rod 18 and a second support rod 17. The first support rod 18 is tilted, with a pivot arm support seat 14 disposed at one end and the other end fixedly connected to the portal frame 11. The second support rod 17 is horizontally disposed between the portal frame 11 and the first support rod 18. The pivot arm support seat 14 is generally U-shaped, and the middle portion of the pivot arm 13 fits within the arm support seat 14. The support frame 20 supports the pivot arm 13. When the hanging ring with the cargo is placed in the hanging ring placement position, the pivot arm 13 falls back into the pivot arm support seat 14, providing both position limiting and support functions, improving load-bearing capacity, and enhancing cargo stability.

[0023] like Figure 1 As shown, the molded frame 10 comprises uprights 101 and crossbeams 102. The uprights 101 are arranged around the conical barrel, with crossbeams 102 connecting the uprights 101. It also includes an electric cylinder mounting bracket 3, which is mounted on the molded frame 10. The electric cylinder 4 is tilted, with its base connected to the bracket 3 and its telescopic rod connected to the sidewall 9 of the conical barrel. This design facilitates production and can be widely installed at store entrances.

[0024] like Figure 2 As shown, the shaft assembly 12 includes a shaft base 103, a shaft 104, and a plug connector 105. The shaft base 103 is connected to the door frame 11, and the plug connector 105 is connected to the rotating arm 13. The shaft 104 passes through the plug connector 105, and its two ends are mounted on the shaft base 103. One end of the rotating arm 13 is rotatably connected to the door frame 11 through the shaft assembly 12.

[0025] Specifically, the mechanical gripper 5 includes an electric gripper, a pneumatic gripper, an electromagnetic suction cup, or a vacuum suction cup. A winch is also provided on the lifting rope 2. Currently, the use of mechanical grippers on drones is a common feature, widely used in logistics, search and rescue, agricultural harvesting, and other fields. These grippers include electric grippers, pneumatic grippers, electromagnetic suction cups, or vacuum suction cups. A chuck can be added to any of these existing grippers to facilitate unmanned cargo retrieval.

[0026] The present invention also provides a self-service pickup method applicable to an aircraft, comprising the following steps: Step 1: The mechanical claw 5 descends into the conical barrel. Step 2: The mechanical claw 5 slides down the conical channel 23 inside the conical barrel to the through hole 21 at the bottom of the barrel. The chuck 22 on the mechanical claw engages with the through hole 21, positioning the mechanical claw above the hanging ring placement position. Step 3: The mechanical claw 5 is activated to grab the hanging ring 6. The hanging ring 6 is connected to the cargo 8 and pre-placed in the hanging ring placement position. Step 3 also includes the following steps: Step 4: Start the electric cylinder 4, and the telescopic rod of the electric cylinder 4 drives the side wall 9 of the cone barrel to open outward; Step 5: The aircraft 1 drives the hanging ring 6 and the cargo 8 upward through the mechanical claw 5. The cargo 8 rises and pushes the rotating arm 13 open. The cargo passes between the two cone barrel side walls 9 in the outwardly opened state. Step 6: Start the electric cylinder 4. The telescopic rod of the electric cylinder 4 drives the side wall 9 of the cone barrel to return to its original position, so that the side wall 9 of the cone barrel is closed to form the cone barrel; and the rotating arm 13 falls back to its original position due to its own gravity.

[0027] The present invention provides a self-service pickup method suitable for aircraft, in which an unmanned pickup device is arranged at the door of a merchant, and the merchant places goods with hanging rings at the hanging ring placement position, and can notify an aircraft or a drone to pick up the goods; when the aircraft or the drone hoistes the goods, it flies above the unmanned pickup device, and then grabs the goods with a mechanical claw according to the above steps one to three, and then lifts the goods according to the above steps four to six, and resets the side wall of the cone barrel to form the cone barrel, and the rotating arm falls back into reset position to wait for the next placement of goods; the above method can realize self-service pickup of aircraft or drones, and the unmanned pickup device arranged at the door of the merchant can be used repeatedly for self-service, and the equipment manufacturing cost is low, which is suitable for wide promotion.

[0028] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An unmanned cargo picking system suitable for an aircraft, comprising an aircraft (1), a hoisting rope (2), a winch (201) and a mechanical claw (5), wherein the aircraft (1) is connected to the mechanical claw (5) via the winch (201) and the hoisting rope (2), and the mechanical claw (5) is used to grab cargo, and is characterized in that: It also includes an unmanned cargo picking device, the unmanned cargo picking device including a frame (10), a cargo hanging component and a mechanical claw positioning mechanism, the frame (10) is arranged on the ground, the cargo hanging component is arranged at the bottom of the frame (10), and the mechanical claw positioning mechanism is arranged at the top of the frame (10); The cargo hanging component includes a hanging ring (6) and a hanging ring positioning frame (7), the hanging ring (6) is used to hang cargo (8); the hanging ring positioning frame (7) includes a door frame (11), a support frame (20) and a rotating arm (13), the rotating arms (13) are respectively provided on both sides of the door frame (11), and the support frames (20) are respectively provided below the rotating arms (13), one end of the rotating arm (13) is rotatably connected to the door frame (11) through a rotating shaft assembly (12), and the other end of the rotating arm (13) is provided with a hanging ring seat (15), and a groove (16) for placing the hanging ring (6) is provided on the hanging ring seat (15), and the two hanging ring seats (15) are arranged relative to each other to form a hanging ring placement position; The mechanical claw positioning mechanism includes a cone barrel and an electric cylinder (4); a conical channel (23) is formed inside the cone barrel, the bottom surface of the cone channel (23) is upward and the apex is downward, and a through hole (21) is provided at the apex, and the through hole (21) is located directly above the placement position of the hanging ring; a chuck (22) is provided on the mechanical claw (5), and the chuck (22) can be clamped in the through hole (21); the cone barrel is composed of two cone barrel side walls (9), the upper edge of the cone barrel side wall (9) is rotatably connected to the frame (10) through a rotating shaft assembly, and an electric cylinder (4) is provided outside the cone barrel side wall (9), and the telescopic rod of the electric cylinder (4) is connected to the cone barrel side wall (9) for driving the cone barrel side wall (9) to open outward.

2. The unmanned cargo pickup system for aircraft according to claim 1, characterized in that: The support frame (20) comprises a first support rod (18) and a second support rod (17); the first support rod (18) is tilted, one end of which is provided with a rotating arm support seat (14), and the other end of which is fixedly connected to the door frame (11); the second support rod (17) is horizontally provided between the door frame (11) and the first support rod (18).

3. The automatic lifting mechanism of the drone cargo-picking mechanical claw according to claim 2 is characterized in that: The rotating arm support seat (14) is U-shaped as a whole, and the middle portion of the rotating arm (13) can fit into the arm support seat (14).

4. The unmanned cargo pickup system for aircraft according to claim 1, characterized in that: The frame (10) comprises upright posts (101) and crossbeams (102), wherein the upright posts (101) are arranged around the cone barrel, and crossbeams (102) are connected between the upright posts (101).

5. The unmanned cargo pickup system for aircraft according to claim 1, characterized in that: It also includes an electric cylinder fixing frame (3), which is mounted on the molding frame (10); the electric cylinder (4) is tilted, the base of the electric cylinder (4) is connected to the fixing frame (3), and the telescopic rod of the electric cylinder (4) is connected to the side wall (9) of the cone barrel.

6. The unmanned cargo pickup system for aircraft according to claim 1, characterized in that: The rotating shaft assembly (12) includes a rotating shaft seat 103, a rotating shaft 104 and a plug connector 105. The rotating shaft seat 103 is connected to the door frame 11, the plug connector 105 is connected to the rotating arm (13), and the rotating shaft 104 is penetrated by the plug connector 105, and its two ends are mounted on the rotating shaft seat 103.

7. The unmanned cargo pickup system for aircraft according to claim 1, characterized in that: The mechanical gripper (5) comprises an electric gripper, a pneumatic gripper, an electromagnetic suction cup or a vacuum suction cup.

8. A self-service pickup method suitable for aircraft, characterized in that: The following steps are involved: Step 1: The mechanical claw (5) descends into the cone barrel; Step 2: The mechanical claw (5) slides down from the conical channel (23) in the cone barrel to the through hole (21) at the bottom of the cone barrel, and the chuck (22) on the mechanical claw fits into the through hole (21), so that the mechanical claw is positioned above the hanging ring placement position; Step 3: Start the mechanical claw (5) to grab the hanging ring (6); the hanging ring (6) is connected to the goods (8) and is pre-placed at the hanging ring placement position.

9. The self-service pickup method for aircraft according to claim 8, characterized in that: The step 3 further includes the following steps: Step 4: Start the electric cylinder (4), and the telescopic rod of the electric cylinder (4) drives the side wall (9) of the cone barrel to open outward; Step 5: The aircraft (1) drives the hanging ring (6) and the cargo (8) to rise through the mechanical claw (5); the cargo (8) rises and pushes the rotating arm (13) away, and the cargo passes between the two cone barrel side walls (9) in the outwardly opened state; Step 6: Start the electric cylinder (4), and the telescopic rod of the electric cylinder (4) drives the side wall (9) of the cone barrel to reset, so that the side wall (9) of the cone barrel is closed to form the cone barrel; and the rotating arm (13) falls back to reset by its own gravity.

Images