Separable warehouse and automatic clamping connecting rod mechanism of unmanned aerial vehicle

Abstract

The utility model discloses an unmanned aerial vehicle separable warehouse and automatic clamping link mechanism, which comprises an unmanned aerial vehicle frame, a driving motor, a clamping assembly, a clamping jaw and a warehouse, the driving motor is fixedly installed on the unmanned aerial vehicle frame, the driving motor is connected with the clamping assembly, and the clamping assembly is connected with the clamping jaw. The two clamping assemblies are symmetrically installed on the unmanned aerial vehicle rack along the center of the driving motor, the clamping assemblies are hinged to the clamping jaw, and the clamping jaw is used for clamping a warehouse. According to the separable warehouse and automatic clamping connecting rod mechanism of the unmanned aerial vehicle, a bilateral synchronous belt driving connecting rod mechanism is adopted, connecting rods fixedly connected with a driven synchronous belt wheel are arranged in a central symmetry mode relative to a driving motor, the mechanism can be driven by a single motor to do bilateral reverse movement, clamping jaws on the two sides conduct clamping or releasing at the same time, and the mechanism is simple.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics distribution cargo box transfer, in particular to a separable cargo hold for unmanned aerial vehicles and an automatic clamping connecting rod mechanism. Background Technique

[0002] In recent years, the technology of unmanned aerial vehicles has developed rapidly, and the market scale has gradually expanded. In the future, the logistics transportation of unmanned aerial vehicles will be more and more frequent. With the application of artificial intelligence technology, the logistics scenario of unmanned aerial vehicles will be more intelligent and truly realize unmanned operation.

[0003] Customers' storage / retrieval will be completed through intelligent cabinets, and the intermediate process will be unmanned, which is completed by the cooperation of unmanned aerial vehicles and intelligent cabinets.

[0004] The above-mentioned cargo box will be placed in the intelligent cabinet, transported to the takeoff and landing platform of the unmanned aerial vehicle through the internal transportation structure of the intelligent cabinet, and then the unmanned aerial vehicle will descend to the takeoff and landing platform to automatically complete the loading of the box.

[0005] The unmanned aerial vehicle carries the goods and flies to the next intelligent cabinet, automatically completes the unloading of the cargo box, and recovers the above-mentioned cargo box into the cabinet through the internal structure of the intelligent cabinet. At the same time, the unmanned aerial vehicle carries the next empty box and flies to the previous intelligent cabinet, puts the empty box into the intelligent cabinet, and so on in a cycle.

[0006] At present, the mainstream cargo holds of unmanned aerial vehicles are fixed. In the existing scenarios of unmanned aerial vehicle delivery, manual operations are mostly required at the loading end and the delivery end to complete loading and unloading, which is very inconvenient. Some manufacturers are also turning to automated loading and unloading cargo holds, such as using electric doors in cooperation with the loading and unloading mechanisms on the takeoff and landing platforms of unmanned aerial vehicles, rope methods, and hook methods, etc. These methods have defects such as complex mechanisms or easy shaking during the transportation of the cargo hold, which is not conducive to the application and popularization of the automated loading and unloading cargo holds of unmanned aerial vehicles. Content of the Utility Model

[0007] The purpose of the utility model is to provide a separable cargo hold for unmanned aerial vehicles and an automatic clamping connecting rod mechanism to solve the defects mentioned in the above background technique.

[0008] To achieve the above object, a separable cargo hold for a drone and an automatic clamping link mechanism are provided, including: a drone frame, a driving motor, a clamping assembly, a jaw, and a cargo hold. The driving motor is fixedly installed on the drone frame. The driving motor is connected to the clamping assembly. Two sets of the clamping assemblies are symmetrically installed on the drone frame along the center of the driving motor. The clamping assembly is hinged to the jaw, and the jaw is used to clamp the cargo hold. It is characterized in that: the clamping assembly includes: a driving synchronous pulley, a driven synchronous pulley, a synchronous belt, and a link. The driving synchronous pulley is arranged on the driving motor. The driven synchronous pulley is fixedly installed on the drone frame. The driving synchronous pulley and the driven synchronous pulley are connected by the synchronous belt. One end of the first link is hinged to the driven synchronous pulley. The other end of the first link is hinged to one end of the second link. The other end of the second link is hinged to the third link and the fourth link. The other end of the third link is hinged to the jaw. The other end of the fourth link is fixedly installed on the drone frame.

[0009] Further, a limiting post is provided between the hinge joints of the second link with the third link and the fourth link and the middle of the jaw.

[0010] Further, an induction piece is provided on the driven synchronous pulley.

[0011] Further, an idle side limit sensor and a clamping side limit sensor are sequentially arranged on the drone frame in the rotation direction of the driven synchronous pulley.

[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0013] 1. By adopting a bilateral synchronous belt drive link mechanism, the link fixedly connected to the driven synchronous pulley is arranged in a way that is centrosymmetric with respect to the driving motor. It can be driven by a single motor for bilateral reverse movement of the mechanism, realizing simultaneous clamping or simultaneous release of the jaws on both sides, and the mechanism is simple;

[0014] 2. Utilizing the self-locking characteristic of the mechanism dead point principle, when the mechanism is in the clamping state, the power supply to the motor can be stopped, and the state can be maintained through the self-locking characteristic of the link mechanism, with high reliability;

[0015] 3. When the drone is in the clamping or idle state, the motor can be in the power-off state, which is more energy-saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic structural diagram of the present utility model;

[0017] Figure 2 It is a schematic diagram of the idle state of the right-side mechanism of the structure of the present utility model;

[0018] Figure 3 Schematic diagram of the intermediate state of the right-side mechanism of the structure of the present utility model;

[0019] Figure 4 Schematic diagram of the dead point state of the right-side mechanism of the structure of the present utility model;

[0020] Figure 5 Schematic diagram of the clamping state of the right-side mechanism of the structure of the present utility model.

[0021] Reference numerals in the figure: 1, unmanned aerial vehicle (UAV) frame; 2, drive motor; 3, clamping assembly; 31, driving synchronous pulley; 32, driven synchronous pulley; 33, synchronous belt; 34, first connecting rod; 35, second connecting rod; 36, third connecting rod; 37, fourth connecting rod; 38, limit post; 4, jaw; 5, induction piece; 6, idle side limit sensor; 7, clamping side limit sensor; 8, cargo hold. Specific implementation manner

[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0023] Please refer to Figure 1 , the present utility model provides a separable cargo hold 8 and an automatic clamping link mechanism for an unmanned aerial vehicle, including: an unmanned aerial vehicle (UAV) frame 1, a drive motor 2, a clamping assembly 3, a jaw 4, and a cargo hold 8. The drive motor 2 is fixedly installed on the UAV frame 1. The drive motor 2 is connected to the clamping assembly 3. Two groups of the clamping assemblies 3 are symmetrically installed on the UAV frame 1 along the center of the drive motor 2. The clamping assembly 3 is hinged to the jaw 4, and the jaw 4 is used for clamping the cargo hold 8.

[0024] The clamping assembly 3 includes: a driving synchronous pulley 31, a driven synchronous pulley 32, a synchronous belt 33, and a connecting rod. The driving synchronous pulley 31 is arranged on the drive motor 2. The driven synchronous pulley 32 is fixedly installed on the UAV frame 1, and an induction piece 5 is arranged on the driven synchronous pulley 32. The driving synchronous pulley 31 and the driven synchronous pulley 32 are connected by the synchronous belt 33.

[0025] The passive synchronous pulley is hinged to one end of the first link 34. The other end of the first link 34 is hinged to one end of the second link 35. The other end of the second link 35 is hinged to the third link 36 and the fourth link 37. The other end of the third link 36 is hinged to the jaw 4. The other end of the fourth link 37 is fixedly installed on the drone frame 1.

[0026] A limiting post 38 is provided between the hinge joints of the second link 35 with the third link 36 and the fourth link 37 and the middle of the jaw 4.

[0027] An idle side limit sensor 6 and a clamping side limit sensor 7 are sequentially arranged on the drone frame 1 in the rotation direction of the passive synchronous pulley 32.

[0028] Process of clamping the cargo hold 8: As Figure 2 shown, it is in the idle state. The driving motor 2 drives the active synchronous pulley 31 to rotate clockwise. The synchronous belt 33 drives the passive synchronous pulley 32 to rotate. The passive synchronous pulley 32 drives the first link 34 to swing. The first link 34 drives the second link 35 to move. The second link 35 drives the third link 36 and the fourth link 37 to move. At the same time, the third link 36 drives the jaw 4 to move. The jaw 4 swings around its hinge point with the drone frame 1. Since the first link 34 is arranged centrosymmetrically with respect to the driving motor 2, when the driving motor 2 operates, the linkage mechanism will drive the jaws 4 on both sides to move towards the direction of clamping the cargo hold 8 at the same time; As Figure 3 shown, the jaw 4 is in the middle position. The docking part between the clamping execution part and the jaw 4 has not yet contacted. At this time, the sensing piece 5 has not reached the clamping side limit sensor 7, and the driving motor 2 will continue to work; As shown in 4, the third link 36 and the fourth link 37 are collinear. The mechanism composed of the third link 36, the fourth link 37 and the jaw 4 is in the dead point position (that is, when driven from the clamping execution part of the jaw 4, the mechanism cannot be driven). At this time, although the docking part between the clamping execution part and the jaw 4 has contacted, the sensing piece 5 has not reached the clamping side limit sensor 7, and the driving motor 2 will continue to work; As shown in 5, at this time, the third link 36 and the fourth link 37 cross the dead point (the third link 36 and the fourth link 37 are not collinear). The sensing piece 5 reaches the clamping side limit sensor 7, causing the clamping side limit sensor 7 to send a signal to the controller, and the driving motor 2 is powered off and stops working. At this time, if a force is applied to open the jaw 4, the third link 36 will tend to move away from the dead point position. Since the limiting post 38 is provided in this direction, the third link 36 cannot move, that is, the jaw 4 cannot move in the opening direction and will maintain the posture of clamping the cargo hold 8.

[0029] Process of releasing the cargo hold 8: The driving motor 2 drives the active synchronous pulley 31 to rotate counterclockwise. The synchronous belt 33 drives the passive synchronous pulley 32 to rotate. The passive synchronous pulley 32 drives the first connecting rod 34 to swing. The first connecting rod 34 drives the second connecting rod 35 to move. The second connecting rod 35 drives the third connecting rod 36 and the fourth connecting rod 37 to move. At the same time, the third connecting rod 36 drives the clamping jaw 4 to move. The clamping jaw 4 swings around its hinge point with the drone frame 1. Since the first connecting rod 34 is arranged in central symmetry with respect to the driving motor 2, when the driving motor 2 operates, the linkage mechanism will drive the clamping jaws 4 on both left and right sides to move towards the direction of releasing the cargo hold 8. When the sensing piece 5 reaches the idle side limit sensor 6, the idle side limit sensor 6 sends a signal to the controller, and the driving motor 2 is powered off and stops working. Since the clamping jaw 4 is restricted by the limit post 38 and cannot continue to open, and at the same time, due to the brake locking force control inside the driving motor 2, the position of the automatic clamping linkage mechanism is locked at this time, and the clamping jaw 4 will maintain the posture of releasing the cargo hold 8.

[0030] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A detachable cargo hold and automatic clamping connecting rod mechanism for an unmanned aerial vehicle, comprising: An unmanned aerial vehicle frame (1), a driving motor (2), a clamping assembly (3), a clamping claw (4) and a cargo hold (8), wherein the driving motor (2) is fixedly mounted on the unmanned aerial vehicle frame (1), the driving motor (2) is connected to the clamping assembly (3), two groups of the clamping assemblies (3) are symmetrically mounted on the unmanned aerial vehicle frame (1) along the center of the driving motor (2), the clamping assembly (3) is hinged to the clamping claw (4), and the clamping claw (4) is used to clamp the cargo hold (8), characterized in that the clamping assembly (3) comprises: an active synchronous pulley (31), a passive synchronous pulley (32), a synchronous belt (33) and a connecting rod, the active synchronous pulley ( 31) is arranged on the driving motor (2), the passive synchronous pulley (32) is fixedly mounted on the UAV frame (1), the active synchronous pulley (31) is connected to the passive synchronous pulley (32) through a synchronous belt (33), the passive synchronous pulley is hinged to one end of a first connecting rod (34), the other end of the first connecting rod (34) is hinged to one end of a second connecting rod (35), the other end of the second connecting rod (35) is hinged to a third connecting rod (36) and a fourth connecting rod (37), the other end of the third connecting rod (36) is hinged to the clamp (4), and the other end of the fourth connecting rod (37) is fixedly mounted on the UAV frame (1).

2. The detachable cargo hold and automatic clamping connecting rod mechanism of a drone according to claim 1, characterized in that: A limiting column (38) is provided between the hinged joint between the second connecting rod (35) and the third connecting rod (36) and the fourth connecting rod (37) and the clamping claw (4).

3. The detachable cargo hold and automatic clamping connecting rod mechanism of a drone according to claim 1, characterized in that: The passive synchronous pulley (32) is provided with an induction sheet (5).

4. The detachable cargo hold and automatic clamping connecting rod mechanism of a drone according to claim 1, characterized in that: An idle side limit sensor (6) and a clamping side limit sensor (7) are sequentially arranged on the drone frame (1) in the rotation direction of the passive synchronous pulley (32).

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