Special cargo unmanned aerial vehicle loading and unloading equipment for subway station

Abstract

The invention discloses special cargo unmanned aerial vehicle loading and unloading equipment for a subway station, and belongs to the field of unmanned aerial vehicle transportation, the special cargo unmanned aerial vehicle loading and unloading equipment comprises an unmanned aerial vehicle, a height-adjustable floor stand is arranged on the unmanned aerial vehicle, and a loading and unloading mechanism is fixedly arranged on the abdomen of the unmanned aerial vehicle and comprises two first rotating arms rotationally arranged on the unmanned aerial vehicle; the distance between the two sets of first rotating arms is adjustable, a connecting piece is fixedly arranged on the two sets of first rotating arms, a rotating rod is rotationally arranged on the connecting piece, two sets of connecting shafts are arranged on the rotating rod in a sliding mode, second rotating arms are fixedly arranged on the two sets of connecting shafts, the two sets of connecting shafts are movably matched with the first rotating arms, and clamping assemblies are arranged on the second rotating arms in a sliding mode. The loading and unloading mechanism is arranged at the belly of the unmanned aerial vehicle, fire extinguishers can be taken, transferred and placed, and the unmanned aerial vehicle can be adopted for transportation under the condition that manual transportation is adopted and danger exists in special situations.

Description

Technical Field

[0001] This invention relates to the field of drone transportation, and in particular to a special cargo drone loading and unloading device for subway stations. Background Technology

[0002] In the operation of urban rail transit, the efficient and safe transfer of fire-fighting supplies is a core element in ensuring the operational safety of subway stations. Fire extinguishers, as essential fire-fighting equipment in subway stations, directly impact the efficiency of subway operation due to the safety and suitability of their transfer operations. Fire extinguishers are pressure vessels containing compressed / liquefied driving gas, classified as non-flammable and non-toxic gas hazardous goods. They also meet the criteria for special goods in subway stations, which involve potential safety risks and require specialized management. Therefore, they are core materials within the scope of special goods management in subway stations. With the development and application of drone transportation technology in logistics and special goods transfer, its point-to-point rapid delivery and lack of ground-level obstruction make it an important potential method for special goods transfer in subway stations.

[0003] At present, most general-purpose drone transport equipment is designed for ordinary goods and does not take into account the pressure vessel structure of fire extinguishers and the special cargo attributes to set up special clamping and protective structures. During transportation, the fire extinguisher cylinder is easily damaged due to shaking and collision, and the propellant gas and extinguishing agent may leak, causing safety accidents. Summary of the Invention

[0004] This invention provides a special cargo drone loading and unloading device for subway stations, which can solve the problem that existing drone transportation technology does not incorporate the characteristics of fire extinguishers and has a dedicated structure for protection.

[0005] A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations includes a UAV, which is equipped with a height-adjustable landing support and a loading and unloading mechanism fixedly mounted on the underside of the UAV. The loading and unloading mechanism includes two sets of first rotating arms rotatably mounted on the UAV, with an adjustable distance between the two sets of first rotating arms. Connectors are fixedly mounted on the two sets of first rotating arms, rotating rods are rotatably mounted on the connectors, and two sets of connecting shafts are slidably mounted on the rotating rods. Second rotating arms are fixedly mounted on both sets of connecting shafts, and the two sets of connecting shafts are movably engaged with the first rotating arms. Clamping components are slidably mounted on the second rotating arms.

[0006] Furthermore, the drone includes a base, on which several symmetrically arranged flight supports are fixedly mounted, and each flight support is equipped with a propeller.

[0007] Furthermore, the base is also symmetrically provided with side supports, and fixed sleeves are fixedly provided on the side supports at both ends. A first telescopic cylinder is fixedly provided inside the fixed sleeve, and a ground support is fixedly provided at the output end of the first telescopic cylinder.

[0008] Furthermore, the UAV has a fixed compartment on its belly, and the loading and unloading mechanism is installed inside the compartment.

[0009] Furthermore, the loading and unloading mechanism includes a positioning block, which is fixedly connected to the compartment. A second telescopic cylinder is rotatably mounted inside the positioning block. The positioning block and the cylinder body of the second telescopic cylinder are rotatably engaged. A first pulley is also fixedly mounted outside the cylinder body of the second telescopic cylinder. A second pulley is rotatably mounted on the positioning block. A synchronous belt connects the first pulley and the second pulley. The first pulley rotates synchronously with the second pulley through the synchronous belt.

[0010] Furthermore, a drive source is fixedly connected to the second pulley. The drive source includes a motor, and the output end of the motor is coaxial with and fixedly connected to the second pulley.

[0011] Furthermore, the second telescopic cylinder is a bidirectional telescopic cylinder. Both output ends of the bidirectional telescopic cylinder are fixedly connected to a first rotating arm via a fixed rod. A connector is fixedly provided at the end of the first rotating arm. Two sets of second rotating arms are rotatably provided on the connector. The clamping assembly includes two clamping plates with adjustable spacing.

[0012] Furthermore, the second rotating arm is provided with a sliding groove, and a threaded rod is provided in the sliding groove. A clamping assembly is threadedly engaged on the threaded rod. The clamping assembly and the sliding groove are slidably engaged. One end of the threaded rod is connected to a driving mechanism, and the driving mechanism is fixedly connected to the second rotating arm.

[0013] Furthermore, one end of the rotating rod is connected to a drive motor, which is located inside the connector. Two connecting shafts slide on the rotating rod, and a storage groove is provided on the first rotating arm, with the second rotating arm located inside the storage groove.

[0014] Furthermore, the connecting shaft includes two annular baffles, and a cylindrical member is fixedly disposed between the two annular baffles. The two annular baffles and the cylindrical member form an I-shaped shaft. A through hole is provided in the middle of the I-shaped shaft, and a rotating rod passes through the through hole. A symmetrical moving groove is provided on the rotating rod, and a moving block is provided on each of the two annular baffles. The moving blocks and the moving grooves are slidably engaged to achieve a sliding engagement between the I-shaped shaft and the rotating rod. The second rotating arm is located inside the first rotating arm. The two ends of the first rotating arm are movably engaged with the two ends of the cylindrical member at the positions of the receiving grooves. The two annular baffles are respectively located on both sides of the first rotating arm, and the second rotating arm is fixed in the middle position of the cylindrical member. Limiting blocks are fixed on both sides of the second rotating arm, and an annular limiting groove is provided at the corresponding position of the first rotating arm. The limiting blocks are slidably engaged with the annular limiting grooves on the first rotating arm.

[0015] The beneficial effects of this invention are: 1. This invention utilizes a loading and unloading mechanism on the underside of a drone to facilitate the retrieval, transfer, and placement of fire extinguishers. In situations where manual transport is dangerous, drones can be used for transport. The loading and unloading mechanism is equipped with a clamping component adapted to the shape of the fire extinguisher, ensuring stable clamping and preventing damage caused by shaking or collisions during transport. The mechanism features a rotatable first and second rotating arm, which rotate independently and work in conjunction with the lifting and lowering of the clamping component to retrieve and place the fire extinguisher. When fire extinguishers need to be replaced in subway stations, the loading and unloading mechanism can transport new fire extinguishers to designated locations while simultaneously transferring and recycling discarded fire extinguisher containers. This high-efficiency transfer solution addresses the issues of safe clamping, precise loading and unloading, and scenario adaptation when transporting special goods like fire extinguishers using drones. It is crucial for improving the efficiency and safety of special goods transfer in subway stations, possessing both practical application value and industry promotion significance.

[0016] 2. The loading and unloading mechanism of this invention has two sets of clamping components that can be rotated and adjusted synchronously, and the distance between the two sets of clamping components is adjustable. When the clamping components pick up the fire extinguisher, they can automatically grab it. After grabbing, the first and second rotating arms rotate and fold, reducing the distance between the two sets of clamping components. This allows the grabbed fire extinguisher to be hidden and stored in the cabin under the belly of the UAV, avoiding the problem of the fire extinguisher occupying a large amount of space during transportation. At the same time, the cabin can also protect the fire extinguisher during transportation, preventing it from colliding with buildings and causing damage. Attached Figure Description Figure 1 This is a schematic diagram of the overall structure of the unmanned aerial vehicle (UAV) loading and unloading equipment of the present invention; Figure 2 This is a front view of the bottom of the drone loading and unloading equipment of the present invention; Figure 3 This is a schematic diagram of the loading and unloading mechanism of the present invention. Figure I ; Figure 4 This is an enlarged schematic diagram of part A of the present invention; Figure 5 This is a schematic diagram of the loading and unloading mechanism of the present invention. Figure II ; Figure 6 This is a schematic diagram of the loading and unloading mechanism of the present invention. Figure III ; Figure 7 This is an enlarged schematic diagram of part B of the present invention; Figure 8 This is a schematic diagram of the connecting shaft structure of the present invention; Figure 9 This is a schematic diagram of the unfolded first and second rotating arms of the present invention.

[0017] Explanation of reference numerals in the attached figures: 1. Base; 2. Flight support; 3. Propeller; 4. Cabin; 5. Side support; 6. Fixing sleeve; 7. First telescopic cylinder; 8. Landing support; 9. Loading and unloading mechanism; 10. Fire extinguisher; 901. Positioning block; 902. Second pulley; 903. Second telescopic cylinder; 904. First pulley; 905. Synchronous belt; 906. Fixing rod; 907. First rotating arm; 908. Connecting piece; 909. Second rotating arm; 910. Clamping assembly; 911. Clamping plate; 912. Sliding groove; 913. Threaded rod; 914. Drive mechanism; 915. Rotating rod; 916. Connecting shaft; 917. Moving groove; 91601. Circular baffle; 91602. Cylindrical part; 91603. Limiting block. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figure 1 As shown in the figure, an embodiment of the present invention provides a special cargo drone loading and unloading device for subway stations, including a drone for flying. The drone has a loading and unloading mechanism 9 on its belly. The loading and unloading mechanism 9 is used to fix fire extinguishers 10 and can also pick up and place fire extinguishers 10.

[0020] like Figure 1 As shown, this embodiment proposes a method for implementing a drone. Specifically, the drone includes a base 1, on which several symmetrically arranged flight supports 2 are fixedly mounted. Each flight support 2 is equipped with a propeller 3. Side supports 5 are also symmetrically arranged on the base 1. Fixed sleeves 6 are fixedly mounted on the side supports 5 at both ends. A first telescopic cylinder 7 is fixedly mounted inside the fixed sleeve 6. A landing support 8 is fixedly mounted at the output end of the first telescopic cylinder 7. In use, the symmetrically arranged propellers 3 can realize the flight function. When landing, the height of the drone landing support 8 can be adjusted by the first telescopic cylinder 7 so that the position of the base 1 meets the loading and unloading requirements. It should be noted that the drone in this embodiment can also be other drones with flight functions in the prior art. These drones have positioning and navigation functions, and can plan the optimal path to the loading and unloading point with one click through the ground station or cloud platform. They support automatic obstacle avoidance and real-time dynamic replanning, are adaptable to complex environments such as urban buildings and subway stations, and can be configured with a cabin according to the load requirements. Moreover, the existing technology has fully supported the directional transportation function of drones, and has significant substitution advantages in scenarios such as last-mile delivery, emergency delivery, and transportation in special terrains.

[0021] Given the complex electromagnetic environment created by the station's signaling system, power supply lines, and communication base stations, the UAV in this embodiment must also have a full-link design to resist electromagnetic interference, equipped with a shielded signal antenna and an anti-electromagnetic interference flight control module to reduce the interference of external electromagnetic signals on flight control and data transmission. There is no open airspace inside the station, the flight path is a short point-to-point route, and the surrounding area is full of obstacles such as steel structure columns, ventilation ducts, cables, and fire-fighting facilities. It is necessary to achieve centimeter-level positioning and obstacle avoidance without blind spots. The operation of UAVs inside the station must be incorporated into the overall operation and management system of the subway to avoid conflicts with subway dispatching, fire protection, and equipment operation.

[0022] Fire extinguisher transport within the station involves short-distance, point-to-point, high-frequency operations, requiring no long battery life but needing to adapt to the station's rapid recharging requirements. Equipped with a high-rate fast-charging lithium battery, a single charge can support 10-20 consecutive transport operations within the station, and a 30-minute fast charge can replenish 80% of the battery.

[0023] like Figure 2 As shown, in this embodiment, a cabin 4 is fixedly provided on the belly of the drone, and a loading and unloading mechanism 9 is installed inside the cabin 4. In this embodiment, there is a total of one set of loading and unloading mechanisms 9, so it can carry a maximum of two fire extinguishers 10. During the transportation of the fire extinguishers 10 by the loading and unloading mechanism 9, the fire extinguishers 10 will be hidden inside the cabin 4. With the directional flight of the drone, the fire extinguishers 10 will be transported to the designated location. The bottom of the cabin 4 may also have an automatically opening and closing bottom door. The opening and closing door is L-shaped and can seal the bottom of the cabin and adjacent sides. When the fire extinguisher 10 is grabbed, the opening and closing door will open automatically. During the transportation process, the opening and closing door will remain closed, so that the cabin 4 has a slight sealing and protection function. If the fire extinguisher 10 cylinder is slightly damaged due to extreme circumstances, it can temporarily prevent the fire extinguishing agent from leaking and avoid contaminating the facilities in the station.

[0024] like Figure 3 As shown, the specific structure of the loading and unloading mechanism 9 in this embodiment is as follows: the loading and unloading mechanism 9 is fixed inside the compartment 4, as shown... Figure 4 As shown, the loading and unloading mechanism 9 includes a positioning block 901, which is fixedly connected to the compartment 4. A second telescopic cylinder 903 is rotatably mounted inside the positioning block 901. The positioning block 901 and the cylinder body of the second telescopic cylinder 903 are rotatably engaged. A first pulley 904 is also fixedly mounted outside the cylinder body of the second telescopic cylinder 903. A second pulley 902 is rotatably mounted on the positioning block 901. A synchronous belt 905 connects the first pulley 904 and the second pulley 902. The first pulley 904 rotates synchronously with the second pulley 902 through the synchronous belt 905. In this embodiment, the drive source is fixedly connected to the second pulley 902. The drive source includes a motor. The output end of the motor is coaxial with and fixedly connected to the second pulley 902. The motor drives the second pulley 902 to rotate, and ultimately realizes the rotation of the second telescopic cylinder 903 through the synchronous belt 905. Figure 3As shown, the second telescopic cylinder 903 is a bidirectional telescopic cylinder. Both output ends of the bidirectional telescopic cylinder are fixedly connected to the first rotating arm 907 via a fixing rod 906. The end of the first rotating arm 907 is fixedly provided with a connector 908. Two sets of second rotating arms 909 are rotatably provided on the connector 908. The two sets of second rotating arms 909 can be hidden and stored on the first rotating arm 907. A clamping assembly 910 is slidably provided on the second rotating arm 909. The clamping assembly 910 includes two adjustable clamping plates 911. The clamping shape of the clamping plates 911 matches the shape of the fire extinguisher 10 cylinder.

[0025] like Figure 5 and Figure 7 As shown, the second rotating arm 909 is provided with a sliding groove 912, and a threaded rod 913 is provided in the sliding groove 912. A clamping assembly 910 is threadedly engaged on the threaded rod 913. The clamping assembly 910 and the sliding groove 912 are slidably engaged. One end of the threaded rod 913 is connected to a driving mechanism 914. The driving mechanism 914 is fixedly connected to the second rotating arm 909. The rotation of the threaded rod 913 is realized by the driving mechanism 914, which further realizes the sliding of the clamping assembly 910 in the sliding groove 912. In this embodiment, the clamping assembly 910 is preferably electrically clamped, including an electric cylinder clamping mechanism and an electric lead screw clamping mechanism. The clamping assembly 910 used in this application is a mature existing technology in the mechanical field. Its structure and working principle are well known to those skilled in the art, so it will not be described in detail here.

[0026] In this embodiment, the clamping plate 911 on the clamping assembly 910 has a built-in anti-slip buffer silicone pad, which is adapted to the shape and size of fire extinguishers of different specifications, so as to achieve tight fixation of the cargo and prevent the bottle from colliding due to shaking or sudden stop during flight.

[0027] like Figure 9 As shown, in use, the first rotating arm 907 and the second rotating arm 909 are rotated and unfolded, so that the second rotating arm 909 is in a vertical state. The clamping plate 911 on the clamping assembly 910 is adjusted to the maximum distance. At this time, the clamping plate 911 clamps the canister part of the fire extinguisher 10. After clamping and fixing, the first rotating arm 907 and the second rotating arm 909 are controlled to rotate and fold, so that the fire extinguisher 10 is retracted into the belly compartment 4 of the drone. The drone is started to perform directional flight to realize the transportation of the fire extinguisher 10. After the drone transports the fire extinguisher 10 to the designated location, the first rotating arm 907 and the second rotating arm 909 are rotated and unfolded again, and the clamping assembly 910 is moved downward. The fire extinguisher 10 moves downward with it until it is placed in the designated location.

[0028] To save storage space, the two sets of fire extinguishers 10 in this embodiment are transported with a short distance between them. However, in actual operation, the distance between the two sets of fire extinguishers 10 may be larger, that is, the distance between the fire extinguishers 10 is greater than the distance between the two fire extinguishers 10 in the compartment 4. The distance between the two sets of clamping components 910 needs to be adjusted in real time. Therefore, this embodiment adds a structure to adapt to the adjustment of the distance between the two sets of clamping components 910, in order to realize the adjustment of the distance between the two sets of clamping components 910. Specifically, as shown in the figure... Figure 5 As shown, two sets of first rotating arms 907 are fixedly equipped with connecting members 908. A rotating rod 915 is rotatably mounted on the connecting member 908. One end of the rotating rod 915 is connected to a drive motor, which is located inside the connecting member 908 and is used to drive the rotation of the rotating rod 915. Two connecting shafts 916 are slidably fitted on the rotating rod 915. A second rotating arm 909 is fixedly mounted on the connecting shaft 916. Figure 6 and Figure 7 As shown, a storage groove is provided on the first rotating arm 907, and the second rotating arm 909 is located in the storage groove. The first rotating arm 907 and the connecting shaft 916 are movably coupled, and the second rotating arm 909 and the connecting shaft 916 are fixedly coupled.

[0029] like Figure 7 and Figure 8 As shown, the connecting shaft 916 includes two annular baffles 91601, and a cylindrical member 91602 is fixedly disposed between the two annular baffles 91601. The two annular baffles 91601 and the cylindrical member 91602 form an I-shaped shaft. The I-shaped shaft has a through hole in the middle, through which the rotating rod 915 passes. Furthermore, the rotating rod 915 has symmetrically provided moving grooves 917, and the two annular baffles 91601 have corresponding moving blocks. The moving blocks and the moving grooves 917 are slidably engaged to achieve a sliding engagement between the I-shaped shaft and the rotating rod 915. The second rotating arm 909 is located inside the first rotating arm 907, and the first rotating arm 907 is located on the storage arm. The two ends of the groove are movable to the two ends of the cylindrical part 91602. That is, when the first rotating arm 907 is kept fixed, the cylindrical part 91602 can rotate relative to the first rotating arm 907. The two annular baffles 91601 are located on both sides of the first rotating arm 907, and the second rotating arm 909 is fixed in the middle of the cylindrical part 91602. The second rotating arm 909 can rotate synchronously with the cylindrical part 91602. Limiting blocks 91603 are fixed on both sides of the second rotating arm 909, and the corresponding position of the first rotating arm 907 is provided with an annular limiting groove. The limiting blocks 91603 slide with the annular limiting groove on the first rotating arm 907.

[0030] In this embodiment, the two sets of clamping components 910 can be used to clamp and load / unload two fire extinguishers 10. The specific working principle is as follows: Figure 3 and Figure 4As shown, in use, the second telescopic cylinder 903 is first driven to rotate as a whole by the second pulley 902, thereby unfolding the first rotating arm 907. Figure 7 and Figure 8 As shown, the rotating rod 915 is then driven to rotate, which in turn drives the connecting shaft 916 to rotate. The connecting shaft 916 further drives the two sets of second rotating arms 909 to rotate. At this time, the first rotating arm 907 remains stationary. Finally, the second rotating arm 909 rotates to a vertical position, and then the two ends of the second telescopic cylinder 903 are controlled to extend and retract synchronously. That is, the distance between the first rotating arms 907 will increase. At this time, the connecting shaft 916 will move laterally on the rotating rod 915 along with the first rotating arm 907, and the second rotating arm 909 will also move synchronously with the connecting shaft 916. The relative positions of the first rotating arm 907 and the second rotating arm 909 remain unchanged, while the distance between the two sets of clamping components 910 changes to meet the placement spacing of the fire extinguisher 10 before loading. The clamping components 910 work together to grasp the fire extinguisher 10. After grasping, the distance between the two sets of clamping components 910 is reduced, and the first rotating arm 907 and the second rotating arm 909 are folded up to hide the fire extinguisher 10 in the compartment 4. After being transported to the designated location, the fire extinguisher 10 is placed in a stable position to achieve the transportation of the fire extinguisher 10.

[0031] In the description of this invention, it should be understood that the terms "upper," "lower," "left," and "right," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or a specific orientational structure and operation. Therefore, they should not be construed as limitations on the invention. Furthermore, "first" and "second" are only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0033] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations, characterized in that, The drone is equipped with a height-adjustable landing support (8) and a loading and unloading mechanism (9) is fixedly installed on the belly of the drone. The loading and unloading mechanism (9) includes two sets of first rotating arms (907) rotatably mounted on the UAV, and the distance between the two sets of first rotating arms (907) is adjustable. Connectors (908) are fixedly mounted on the two sets of first rotating arms (907), and rotating rods (915) are rotatably mounted on the connectors (908). Two sets of connecting shafts (916) are slidably mounted on the rotating rods (915). Second rotating arms (909) are fixedly mounted on both sets of connecting shafts (916). The two sets of connecting shafts (916) are movably engaged with the first rotating arms (907). Clamping components (910) are slidably mounted on the second rotating arms (909).

2. The special cargo unmanned aerial vehicle loading and unloading equipment for subway stations as described in claim 1, characterized in that, The drone includes a base (1), on which a number of symmetrically arranged flight supports (2) are fixedly mounted, and each of the flight supports (2) is equipped with a propeller (3).

3. The special cargo unmanned aerial vehicle loading and unloading equipment for subway stations as described in claim 2, characterized in that, The base (1) is also symmetrically provided with side brackets (5), and fixed sleeves (6) are fixedly provided on the side brackets (5) at both ends. A first telescopic cylinder (7) is fixedly provided inside the fixed sleeve (6), and a floor bracket (8) is fixedly provided at the output end of the first telescopic cylinder (7).

4. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 1, characterized in that, The UAV has a fixed compartment (4) on its belly, and the loading and unloading mechanism (9) is installed inside the compartment (4).

5. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 1, characterized in that, The loading and unloading mechanism (9) includes a positioning block (901), which is fixedly connected to the compartment (4). A second telescopic cylinder (903) is rotatably provided inside the positioning block (901). The cylinder body of the positioning block (901) and the cylinder body of the second telescopic cylinder (903) are rotatably engaged. A first pulley (904) is also fixedly installed outside the cylinder body of the second telescopic cylinder (903). A second pulley (902) is rotatably provided on the positioning block (901). A synchronous belt (905) is connected between the first pulley (904) and the second pulley (902). The first pulley (904) rotates synchronously with the second pulley (902) through the synchronous belt (905).

6. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 5, characterized in that, A drive source is fixedly connected to the second pulley (902). The drive source includes a motor, and the output end of the motor is coaxial with and fixedly connected to the second pulley (902).

7. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 5, characterized in that, The second telescopic cylinder (903) is a bidirectional telescopic cylinder. Both ends of the bidirectional telescopic cylinder are fixedly connected to the first rotating arm (907) via the fixed rod (906). The end of the first rotating arm (907) is fixedly provided with a connector (908). Two sets of second rotating arms (909) are rotatably provided on the connector (908). The clamping assembly (910) includes two clamping plates (911) with adjustable spacing.

8. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 1, characterized in that, The second rotating arm (909) is provided with a sliding groove (912), and a threaded rod (913) is provided in the sliding groove (912). A clamping assembly (910) is threadedly engaged on the threaded rod (913). The clamping assembly (910) and the sliding groove (912) are slidably engaged. One end of the threaded rod (913) is connected to a drive mechanism (914), and the drive mechanism (914) is fixedly connected to the second rotating arm (909).

9. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 1, characterized in that, One end of the rotating rod (915) is connected to a drive motor, which is located inside the connector (908). Two connecting shafts (916) slide on the rotating rod (915). A storage groove is provided on the first rotating arm (907), and the second rotating arm (909) is located in the storage groove.

10. A special cargo unmanned aerial vehicle (UAV) loading and unloading equipment for subway stations as described in claim 9, characterized in that, The connecting shaft (916) includes two annular baffles (91601), and a cylindrical member (91602) is fixedly disposed between the two annular baffles (91601). The two annular baffles (91601) and the cylindrical member (91602) form an I-shaped shaft. The I-shaped shaft has a through hole in the middle, and the rotating rod (915) passes through the through hole. The rotating rod (915) has symmetrically provided moving grooves (917). The two annular baffles (91601) have corresponding moving blocks. The moving blocks and the moving grooves (917) are slidably engaged to realize the sliding engagement between the I-shaped shaft and the rotating rod (915). The second rotating arm (909) is located inside the first rotating arm (907). The first rotating arm (907) is in movable cooperation with the two ends of the cylindrical part (91602) at the two ends of the storage groove. Two circular baffles (91601) are located on both sides of the first rotating arm (907). The second rotating arm (909) is fixed in the middle of the cylindrical part (91602). Limiting blocks (91603) are fixed on both sides of the second rotating arm (909). The first rotating arm (907) is provided with an annular limiting groove at the corresponding position. The limiting block (91603) slides in cooperation with the annular limiting groove on the first rotating arm (907).

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