Throwing device applied to unmanned aerial vehicle rescue and throwing method thereof
阅读说明：本技术 一种应用于无人机救援的投抛装置及其抛投方法 (Throwing device applied to unmanned aerial vehicle rescue and throwing method thereof ) 是由 华新方 于 2019-11-28 设计创作，主要内容包括：本发明公开了一种应用于无人机救援的投抛装置及其抛投方法,通过设置第一电机,第一电机带动第一转轴转动,抓取气缸驱动两端的伸缩杆反向移动,当夹板移动至物料的一端时,抓取气缸驱动两端的伸缩杆相向移动,通过活动臂带动夹板相向移动进而对物料进行抓取,抓取物料后,第一转轴带动转动臂反向转动,通过转动臂将连接杆移动至无人机底端设置的投抛口,抓取气缸驱动伸缩杆移动,使得两个夹板抓取的物资从投抛口完成投抛,物资通过第一电机依次从存放板上经投抛口完成投抛,进而使得物资的投抛能够满足不同区域的多次投抛需求,使得物资经投抛装置投抛后,物资的投抛区域能够根据实际需要进行投抛,使得救援的效率更高。(The invention discloses a throwing device applied to unmanned aerial vehicle rescue and a throwing method thereof, wherein a first motor is arranged, the first motor drives a first rotating shaft to rotate, a grabbing cylinder drives telescopic rods at two ends to move reversely, when a clamping plate moves to one end of a material, the grabbing cylinder drives the telescopic rods at two ends to move oppositely, a movable arm drives the clamping plate to move oppositely so as to grab the material, after the material is grabbed, the first rotating shaft drives the rotating arm to rotate reversely, a connecting rod is moved to a throwing port arranged at the bottom end of an unmanned aerial vehicle through the rotating arm, the grabbing cylinder drives the telescopic rods to move, so that the material grabbed by the two clamping plates is thrown from the throwing port, the material is thrown from a storage plate through the throwing port sequentially through the first motor, further the throwing of the material can meet the multiple throwing requirements of different areas, and the material is thrown by a throwing device, the throwing area of the goods and materials can throw according to actual needs, so that the rescue efficiency is higher.)
1. The utility model provides a throw device for unmanned aerial vehicle rescue which characterized in that includes: a transfer mechanism (2) for transferring stored materials to a transition table (3) in sequence so as to facilitate the material feeding mechanism (5) to move the materials, a throwing mechanism (6) which is arranged at one end of the material feeding mechanism (5) and is used for automatically throwing the materials, the transfer mechanism (2) and the material feeding mechanism (5) are fixedly arranged on a throwing table (1) through bolts, the throwing table (1) is fixedly arranged at one end of a throwing opening arranged in an unmanned aerial vehicle through bolts, the transition table (3) is fixedly connected with the throwing table (1) through a plurality of upright posts, the throwing mechanism (6) comprises a first motor (601), a rotating arm (605), a throwing plate (608) and a grabbing cylinder (609), one end of the first motor (601) is fixedly connected with a fixed frame (603) through bolts, one end of the first motor (601) is rotatably connected with a first rotating shaft (602), and the first rotating shaft (602) is rotatably connected with the fixed frame (603) through a bearing, a shaft sleeve is tightly and fittingly installed on the first rotating shaft (602), a rotating arm (605) is fixedly installed at one end of the shaft sleeve through a bolt, so that the rotating arm (605) rotates around the axial lead of the first rotating shaft (602) under the driving of a first motor (601), a connecting rod (606) is fixedly installed at one end of the rotating arm (605) through a bolt, one end of the connecting rod (606) is fixedly connected with a base (607) through a threaded hole, a throwing plate (608) is fixedly installed at the bottom end of the base (607) through a bolt, a grabbing cylinder (609) is fixedly installed at the bottom end of the throwing plate (608) through a bolt, telescopic rods arranged at two ends of the grabbing cylinder (609) are respectively and fixedly connected with two second sliding blocks (612) through bolts, the top ends of the two second sliding blocks (612) are both in sliding connection with a second guide rail (611), and the top end of the second guide rail (611) is fixedly connected, the two second sliding blocks (612) are driven by the grabbing air cylinder (609) to move oppositely or oppositely along the length direction of the second guide rail (611), the outer ends of the two second sliding blocks (612) are fixedly provided with movable arms (604) through bolts, and one ends of the movable arms (604) are fixedly provided with clamping plates (610) which are used for grabbing materials and convenient to throw through the bolts;
the transfer mechanism (2) comprises a second motor (202), a moving plate (207), a suction plate (215) and a first cylinder (217), the second motor (202) is fixedly connected with the support frame (201) through bolts, the top end of the second motor (202) is rotatably connected with a first rotating wheel (203), the first rotating wheel (203) is movably connected with a second rotating wheel (205) through a belt (204), the second rotating wheel (205) is rotatably connected with the support frame (201) through a connecting shaft, one end of the belt (204) is fixedly provided with a moving block (208) through bolts, and the bottom end of the moving block (208) is slidably connected with a sliding rail (206), and the top end of the moving block (208) is fixedly provided with a moving plate (207) through a bolt, the bottom end of the moving plate (207) is fixedly provided with a first rib plate (218) through a bolt, and the bottom end of the first rib plate (218) is fixedly provided with a first cylinder (217) through a bolt.
2. The throwing device applied to unmanned aerial vehicle rescue of claim 1, wherein a first push rod (216) is movably mounted at the bottom end of the first cylinder (217), a suction plate (215) is fixedly mounted at the bottom end of the first push rod (216) through a bolt, and a plurality of suckers (214) are equidistantly mounted at the bottom end of the suction plate (215) through threaded holes.
3. The throwing device applied to unmanned aerial vehicle rescue of claim 2, wherein a plurality of limiting rods (213) are arranged at the bottom ends of the plurality of suckers (214), and a bearing plate (212) is movably mounted on the plurality of limiting rods (213) through mounting holes, so that the bearing plate (212) can move up and down along the length direction of the plurality of limiting rods (213).
4. The throwing device applied to unmanned aerial vehicle rescue of claim 3, wherein the bottom ends of the limiting rods (213) are fixedly connected with the bottom frame through bolts, the bottom frame is fixedly connected with the throwing platform (1) through bolts, one end of the bearing plate (212) is fixedly connected with the supporting plate (211) through bolts, and one end of the supporting plate (211) is provided with a third motor (210) for driving the supporting plate (211) to move up and down along the length direction of the limiting rods (213).
5. The throwing device applied to unmanned aerial vehicle rescue of claim 4, wherein the third motor (210) is fixedly connected with the support plate (209) through a bolt, the top end of the support plate (209) is fixedly connected with the support frame (201) through a bolt, and the bottom end of the support plate (209) is fixedly connected with the throwing platform (1) through a bolt.
6. The throwing device applied to unmanned aerial vehicle rescue of claim 1, wherein the feeding mechanism (5) comprises a placement table (502), a second cylinder (503), a push plate (505) and a third cylinder (508), the placement table (502) is fixedly connected with the mounting frame (501) through bolts, a groove for placing the storage plate (4) is formed in the top end of the placement table (502), the bottom end of the mounting frame (501) is fixedly connected with the throwing table (1) through bolts, the second cylinder (503) is fixedly installed in the top end of the mounting frame (501) through bolts, a second push rod (504) is movably installed at one end of the second cylinder (503), and one end of the second push rod (504) is fixedly connected with the push plate (505) through a folded plate.
7. The throwing device applied to unmanned aerial vehicle rescue of claim 6, wherein the bottom end of the push plate (505) is fixedly provided with a first sliding block (506) through a bolt, the bottom end of the first sliding block (506) is connected with a first guide rail (507) in a sliding manner, the bottom end of the first guide rail (507) is fixedly connected with the mounting frame (501) through a bolt, one end of the push plate (505) is fixedly provided with a third cylinder (508) through a bolt, the bottom end of the third cylinder (508) is movably provided with a third push rod (509), and the bottom end of the third push rod (509) is fixedly provided with a grabbing disc (510) through a bolt.
8. The throwing method applied to the throwing device for unmanned aerial vehicle rescue of claim 1, characterized by comprising the following steps:
firstly, storing materials on a bearing plate (212) in advance, starting a third motor (210), driving the bearing plate (212) to move upwards by the third motor (210), driving the materials to move upwards by the hungry bearing plate (212) along the length direction of a plurality of limiting rods (213), further enabling the materials to be moved to the position under a plurality of suckers (214), starting a first air cylinder (217), driving a first push rod (216) to move downwards by the first air cylinder (217), enabling the first push rod (216) to push a suction plate (215) to move downwards, further enabling the suckers (214) to move downwards to adsorb the materials, and starting a second motor (202), driving a belt (204) to rotate by the second motor (202) through a first rotating wheel (203), enabling the belt (204) to drive a moving block (208) to move along the length direction of a sliding rail (206), and enabling the moving block (208) to drive the moving block (207) to move towards one end of a transition table (3), then the materials are sequentially moved to the transition table (3) through a plurality of suckers (214);
secondly, a second air cylinder (503) is started, the second air cylinder (503) pushes a second push rod (504) to move, so that the second push rod (504) pushes a push plate (505) to move along the length direction of a first guide rail (507), a third air cylinder (508) is moved to the upper side of a transition table (3), the third air cylinder (508) is started, the third air cylinder (508) pushes a third push rod (509) to move downwards, so that a grabbing disc (510) is driven to move downwards to grab materials, and the materials are moved to a storage plate (4) arranged on a placement table (502);
thirdly, a first motor (601) is started, the first motor (601) drives a first rotating shaft (602) to rotate, so that the first rotating shaft (602) drives a rotating arm (605) to rotate, the rotating arm (605) rotates to a position right above a storage plate (4), a grabbing cylinder (609) is started, the grabbing cylinder (609) drives telescopic rods at two ends to move in reverse, so that two telescopic rods drive two second sliding blocks (612) to move in reverse, and further, the two second sliding blocks (612) drive two movable arms (604) to move in reverse along the length direction of a second guide rail (611), so that clamping plates (610) arranged on the movable arms (604) move in reverse, so that the distance between the two clamping plates (610) is increased, when the clamping plates (610) move to one end of a material, the grabbing cylinder (609) drives the telescopic rods at two ends to move in opposite directions, so that the telescopic rods drive the two second sliding blocks (612) to move in opposite directions, the two second sliding blocks (612) drive the two movable arms (604) to move oppositely, and then the movable arms (604) drive the clamping plates (610) to move oppositely so as to grab the materials;
fourthly, after grabbing the material, first pivot (602) antiport of first motor (601) drive to make first pivot (602) drive rotor arm (605) antiport, thereby throw the mouth to remove to throwing that unmanned aerial vehicle bottom set up through rotor arm (605) with connecting rod (606), at this moment, it removes to grab cylinder (609) drive telescopic link, make the telescopic link drive two second slider (612) antiport, thereby drive two splint (610) antiport through second slider (612), so that the goods and materials that two splint (610) snatched accomplish from throwing the mouth and throw.
Technical Field
The invention relates to the field of throwing devices, in particular to a throwing device applied to unmanned aerial vehicle rescue and a throwing method thereof, belonging to the technical field of rescue throwing device application.
Background
The unmanned plane is called unmanned plane for short, and is an unmanned plane operated by radio remote control equipment and a self-contained program control device. The machine has no cockpit, but is provided with an automatic pilot, a program control device and other equipment. The personnel on the ground, the naval vessel or the mother aircraft remote control station can track, position, remotely control, telemeter and digitally transmit the personnel through equipment such as a radar. The unmanned aerial vehicle can achieve the effects of safety and rapidness when being applied to rescue by virtue of the automatic driving function of the unmanned aerial vehicle, when the unmanned aerial vehicle throws a region needing rescue by loading materials, but when the existing unmanned aerial vehicle rescue throws the materials, no special automatic throwing device is provided, so that the unmanned aerial vehicle can throw the materials in a small-range region only once when throwing the materials, the thrown rescue materials fall into the region relatively randomly, and the timely rescue requirements cannot be met; when the existing unmanned aerial vehicle is used for rescuing and throwing, the throwing amount of materials cannot be automatically controlled according to needs, so that the unmanned aerial vehicle can throw more intensively, and further the materials cannot be thrown in a large area rapidly, and the throwing efficiency is reduced.
Disclosure of Invention
The invention aims to provide a throwing device applied to unmanned aerial vehicle rescue and a throwing method thereof, which aim to solve the problems that the existing unmanned aerial vehicle rescue has no special automatic throwing device when throwing goods and materials, so that the unmanned aerial vehicle can only throw the goods and materials in a small-range area at one time when throwing the goods and materials, the thrown rescue goods and materials fall into the area randomly and the timely rescue needs cannot be met; and when the existing unmanned aerial vehicle is used for rescuing and throwing, the throwing amount of materials cannot be automatically controlled according to needs, so that the throwing of the unmanned aerial vehicle is concentrated, and the materials cannot be quickly thrown in a large area, so that the throwing efficiency is reduced.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a throw device for unmanned aerial vehicle rescue, includes: the transfer mechanism is used for sequentially transferring stored materials to the transition table so as to facilitate the material conveying mechanism to move the materials, the throwing mechanism is positioned at one end of the material conveying mechanism and used for automatically throwing the materials, the transfer mechanism and the material conveying mechanism are fixedly arranged on the throwing table through bolts, the throwing table is fixedly arranged at one end of a throwing port arranged in the unmanned aerial vehicle through bolts, the transition table is fixedly connected with the throwing table through a plurality of stand columns, the throwing mechanism comprises a first motor, a rotating arm, a throwing plate and a grabbing cylinder, one end of the first motor is fixedly connected with a fixing frame through bolts, one end of the first motor is rotatably connected with a first rotating shaft, the first rotating shaft is rotatably connected with the fixing frame through a bearing, a shaft sleeve is tightly matched and arranged on the first rotating shaft, one end of the shaft sleeve is fixedly provided with the rotating arm through bolts, so that the rotating arm rotates around the axis of the first rotating shaft through the driving of the first motor, one end of the rotating arm is fixedly provided with a connecting rod through a bolt, one end of the connecting rod is fixedly connected with the base through a threaded hole, the bottom end of the base is fixedly provided with a throwing plate through a bolt, the bottom end of the throwing plate is fixedly provided with a grabbing cylinder through a bolt, telescopic rods arranged at two ends of the grabbing cylinder are respectively and fixedly connected with the two second sliding blocks through bolts, the top ends of the two second sliding blocks are both in sliding connection with the second guide rail, the top end of the second guide rail is fixedly connected with the bottom end of the throwing plate through a bolt, so that the two second sliding blocks move oppositely or oppositely along the length direction of the second guide rail through the driving of the grabbing cylinder, the outer ends of the two second sliding blocks are both fixedly provided with movable arms through bolts, and one end of each movable arm is fixedly provided with a;
the transfer mechanism comprises a second motor, a movable plate, a suction plate and a first cylinder, the second motor is fixedly connected with a support frame through bolts, the top end of the second motor is rotatably connected with a first rotating wheel, the first rotating wheel is movably connected with a second rotating wheel through a belt, the second rotating wheel is rotatably connected with the support frame through a connecting shaft, a movable block is fixedly mounted at one end of the belt through bolts, the bottom end of the movable block is slidably connected with a slide rail, the top end of the movable block is fixedly provided with the movable plate through bolts, a first rib plate is fixedly mounted at the bottom end of the movable plate through bolts, and a first cylinder is fixedly mounted at the bottom end of the first rib.
Furthermore, the bottom end movable mounting of first cylinder has first push rod, and the bottom of first push rod has the suction disc through bolt fixed mounting, and the equidistant a plurality of sucking discs of installing of screw hole are passed through to the bottom of suction disc.
Further, the bottom of a plurality of sucking discs is provided with a plurality of gag lever posts, has the loading board through mounting hole movable mounting on a plurality of gag lever posts for the loading board can reciprocate along the length direction of a plurality of gag lever posts.
Furthermore, the bottom ends of the limiting rods are fixedly connected with the bottom frame through bolts, the bottom frame is fixedly connected with the throwing platform through bolts, one end of the bearing plate is fixedly connected with the supporting plate through bolts, and a third motor used for driving the supporting plate to move up and down along the length direction of the limiting rods is arranged at one end of the supporting plate.
Further, the third motor is fixedly connected with the support plate through a bolt, the top end of the support plate is fixedly connected with the support frame through a bolt, and the bottom end of the support plate is fixedly connected with the throwing table through a bolt.
Further, feeding mechanism includes rest table, second cylinder, push pedal and third cylinder, and rest table passes through bolt and mounting bracket fixed connection, and the top of rest table is provided with the recess that is used for placing the storage plate, and the bottom of mounting bracket passes through bolt and throws a platform fixed connection, and the top of mounting bracket passes through bolt fixed mounting and has the second cylinder, and the one end movable mounting of second cylinder has the second push rod, and the one end of second push rod passes through folded plate and push pedal fixed connection.
Further, the bottom of push pedal has first slider through bolt fixed mounting, and the bottom sliding connection of first slider has first guide rail, and bolt and mounting bracket fixed connection are passed through to the bottom of first guide rail, and bolt fixed mounting is passed through to the one end of push pedal has the third cylinder, and the bottom movable mounting of third cylinder has the third push rod, and the bottom of third push rod has the dish of grabbing through bolt fixed mounting.
The working method of the throwing device specifically comprises the following steps:
firstly, storing materials on a bearing plate in advance, starting a third motor, driving the bearing plate to move upwards by the third motor, driving the materials to move upwards along the length direction of a plurality of limiting rods by the hungry bearing plate, further enabling the materials to be moved to be under a plurality of suckers, starting a first air cylinder, driving a first push rod to move downwards by the first air cylinder, enabling the first push rod to push a suction plate to move downwards, further enabling the suckers to move downwards to adsorb the materials, and starting a second motor, driving a belt to rotate by the second motor through a first rotating wheel, enabling the belt to drive a moving block to move along the length direction of a sliding rail, enabling the moving block to drive the moving block to move towards one end of a transition table, and further sequentially moving the materials to the transition table through the suckers;
secondly, starting a second air cylinder, wherein the second air cylinder pushes a second push rod to move, so that the second push rod pushes a push plate to move along the length direction of the first guide rail, so that a third air cylinder moves above the transition table, starting a third air cylinder, and the third air cylinder pushes a third push rod to move downwards so as to drive a grabbing disc to move downwards to grab materials and move the materials to a storage plate arranged on the placing table;
thirdly, a first motor is started, the first motor drives a first rotating shaft to rotate, the first rotating shaft drives a rotating arm to rotate, the rotating arm rotates to a position right above a storage plate, a grabbing cylinder is started, the grabbing cylinder drives telescopic rods at two ends to move in a reverse direction, the two telescopic rods drive two second sliding blocks to move in a reverse direction, the two second sliding blocks drive the two movable arms to move in a reverse direction along the length direction of a second guide rail, clamping plates arranged on the movable arms move in a reverse direction, the distance between the two clamping plates is increased, when the clamping plates move to one end of a material, the grabbing cylinder drives the telescopic rods at two ends to move in opposite directions, the telescopic rods drive the two second sliding blocks to move in opposite directions, the two second sliding blocks drive the two movable arms to move in opposite directions, and the clamping plates are driven to move in opposite directions through the movable arms to grab the material;
the fourth step, snatch the material after, the first pivot antiport of first motor drive to make first pivot drive rotor arm antiport, thereby remove the connecting rod to throwing of unmanned aerial vehicle bottom setting through the rotor arm and throw the mouth, at this moment, snatch cylinder drive telescopic link and remove, make the telescopic link drive two second slider antiport, thereby drive two splint antiport through the second slider, so that the goods and materials that two splint snatched accomplish from throwing the mouth and throw.
The invention has the beneficial effects that:
1. by arranging the first motor, the first motor drives the first rotating shaft to rotate, the grabbing cylinder drives the telescopic rods at the two ends to move reversely, when the clamping plate moves to one end of the material, the grabbing cylinder drives the telescopic rods at the two ends to move oppositely, the movable arm drives the clamping plate to move oppositely so as to grab the material, after the material is grabbed, the first rotating shaft drives the rotating arm to rotate reversely, the connecting rod is moved to a throwing port arranged at the bottom end of the unmanned aerial vehicle through the rotating arm, the grabbing cylinder drives the telescopic rods to move, so that the telescopic rods drive the two second sliding blocks to move reversely, the material grabbed by the two clamping plates is thrown from the throwing port, the material is thrown from the storage plate through the throwing port sequentially through the first motor, the throwing requirements of different areas can be met, after the material is thrown by the throwing device, the throwing area of the material can be thrown according to actual requirements, so that the rescue efficiency is higher.
2. The bearing plate is driven to move upwards by the third motor, so that the bearing plate drives materials to move upwards along the length direction of the limiting rods, the materials are moved to be under the suckers, the first cylinder drives the first push rod to move downwards, the first push rod pushes the suction plate to move downwards, the suckers move downwards to adsorb the materials, the second motor drives the belt to rotate by the first rotating wheel, the materials are sequentially moved to the transition table by the suckers, the materials can be sequentially and automatically transferred to the transition table by arranging the second motor and the third motor so as to be conveniently thrown, the throwing amount of the materials can be adjusted by the rotation speed of the second motor, the material loading process in the throwing process is controllable, the throwing amount of the materials is controllable, and the throwing efficiency of the materials is greatly improved, thereby improving the rescue efficiency.
3. Through setting up the catch tray, the second cylinder promotes the second push rod and removes, so that the third cylinder removes the top to the transition platform, the third cylinder promotes the third push rod and moves down, so as to drive the catch tray and move down and snatch the goods and materials, and move the goods and materials to the storage plate that sets up on the platform, thereby conveniently throw the mechanism and throw, through setting up the second cylinder, make the second cylinder can the automatic drive third cylinder along the removal of horizontal direction, thereby make the third cylinder drive catch tray snatch the goods and materials, make the goods and materials can be in proper order continuous place on the storage plate, make throwing the mechanism can be continuous throw the goods and materials, and then make the throwing of goods and materials can go on as required, and then improved rescue efficiency.
Drawings
In order to facilitate understanding for those skilled in the art, the present invention will be further described with reference to the accompanying drawings.
Fig. 1 is an overall installation schematic of the present invention.
Fig. 2 is an overall mounting elevation view of the present invention.
Fig. 3 is a schematic structural diagram of the throwing mechanism of the present invention.
Figure 4 is a right side view of the throwing mechanism of the present invention.
Fig. 5 is an installation view of the transfer mechanism of the present invention.
Fig. 6 is an installation schematic diagram of the feeding mechanism of the present invention.
In the figure: 1. throwing platform; 2. a transfer mechanism; 201. a support frame; 202. a second motor; 203. a first runner; 204. a belt; 205. a second runner; 206. a slide rail; 207. moving the plate; 208. a moving block; 209. a support plate; 210. a third motor; 211. a support plate; 212. a carrier plate; 213. a limiting rod; 214. a suction cup; 215. sucking a plate; 216. a first push rod; 217. a first cylinder; 218. a first rib plate; 3. a transition table; 4. a storage plate; 5. a feeding mechanism; 501. a mounting frame; 502. a rest table; 503. a second cylinder; 504. a second push rod; 505. pushing the plate; 506. a first slider; 507. a first guide rail; 508. a third cylinder; 509. a third push rod; 510. grabbing a disc; 6. throwing mechanism; 601. a first motor; 602. a first rotating shaft; 603. a fixed mount; 604. a movable arm; 605. a rotating arm; 606. a connecting rod; 607. a base; 608. throwing a plate; 609. a grabbing cylinder; 610. a splint; 611. a second guide rail; 612. and a second slider.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, a throw device for unmanned aerial vehicle rescue includes: a transfer mechanism 2 for transferring the stored materials to a transition table 3 in sequence so as to facilitate the material feeding mechanism 5 to move the materials, a throwing mechanism 6 located at one end of the material feeding mechanism 5 and used for automatically throwing the materials, wherein the transfer mechanism 2 and the material feeding mechanism 5 are both fixedly installed on the throwing table 1 through bolts, the throwing table 1 is fixedly installed at one end of a throwing opening arranged in an unmanned aerial vehicle through bolts, the transition table 3 is fixedly connected with the throwing table 1 through a plurality of upright posts, the throwing mechanism 6 comprises a first motor 601, a rotating arm 605, a throwing plate 608 and a grabbing cylinder 609, one end of the first motor 601 is fixedly connected with a fixed frame 603 through bolts, the fixed frame 603 is of a U-shaped structure, one end of the first motor 601 is rotatably connected with a first rotating shaft 602, the first rotating shaft 602 is rotatably connected with the fixed frame 603 through a bearing so that the fixed frame 603 provides support for the first rotating shaft 602, a shaft sleeve is tightly and fittingly installed on the first rotating shaft 602, a rotating arm 605 is fixedly installed at one end of the shaft sleeve through a bolt, so that the rotating arm 605 rotates around the axial lead of the first rotating shaft 602 through the driving of a first motor 601, a connecting rod 606 is fixedly installed at one end of the rotating arm 605 through a bolt, one end of the connecting rod 606 is fixedly connected with a base 607 through a threaded hole, the base 607 is in an I-shaped structure, a throwing plate 608 is fixedly installed at the bottom end of the base 607 through a bolt, a grabbing cylinder 609 is fixedly installed at the bottom end of the throwing plate 608 through a bolt, telescopic rods arranged at two ends of the grabbing cylinder 609 are respectively fixedly connected with two second sliding blocks 612 through bolts, the top ends of the two second sliding blocks 612 are in sliding connection with a second guide rail 611, the top end of the second guide rail 611 is fixedly connected with the bottom end of the throwing plate 608 through a bolt, so that the two second sliding blocks 612 move towards or, the outer ends of the two second sliding blocks 612 are fixedly provided with movable arms 604 through bolts, one end of each movable arm 604 is fixedly provided with a clamping plate 610 for grabbing materials to be thrown conveniently, when the materials are transferred to the storage plate 4, the first motor 601 is started, the first motor 601 drives the first rotating shaft 602 to rotate, the first rotating shaft 602 drives the rotating arm 605 to rotate, the rotating arm 605 rotates right above the storage plate 4, the grabbing cylinder 609 is started, the grabbing cylinder 609 drives the telescopic rods at the two ends to move in the reverse direction, the two telescopic rods drive the two second sliding blocks 612 to move in the reverse direction, the two second sliding blocks 612 drive the two movable arms 604 to move in the reverse direction along the length direction of the second guide rail 611, the clamping plates 610 arranged on the movable arms 604 move in the reverse direction, the distance between the two clamping plates 610 is increased, when the clamping plates 610 move to one end of the materials, the grabbing cylinder 609 drives the telescopic rods at two ends to move in opposite directions, so that the telescopic rods drive the two second sliding blocks 612 to move in opposite directions, so that the two second sliding blocks 612 drive the two movable arms 604 to move in opposite directions, and further drive the clamping plates 610 to move in opposite directions through the movable arms 604 so as to grab the material, after the material is grabbed, the first motor 601 drives the first rotating shaft 602 to rotate in opposite directions, so that the first rotating shaft 602 drives the rotating arm 605 to rotate in opposite directions, so that the connecting rod 606 moves to a throwing opening arranged at the bottom end of the unmanned aerial vehicle through the rotating arm 605, at the moment, the grabbing cylinder 609 drives the telescopic rods to move, so that the telescopic rods drive the two second sliding blocks 612 to move in opposite directions, so that the two clamping plates 610 are driven by the second sliding blocks 612 to move in opposite directions, so that the material grabbed by the two clamping plates 610 is thrown from the throwing opening, and the material is sequentially thrown from the storage plate, and then the throwing of goods and materials can meet the multiple throwing requirements of different areas, so that after the goods and materials are thrown by the throwing device, the throwing area of the goods and materials can be thrown according to actual needs, and the rescue efficiency is higher.
The transfer mechanism 2 comprises a second motor 202, a moving plate 207, a suction plate 215 and a first air cylinder 217, the second motor 202 is fixedly connected with a support frame 201 through bolts, the top end of the second motor 202 is rotatably connected with a first rotating wheel 203, the first rotating wheel 203 is movably connected with a second rotating wheel 205 through a belt 204, the second rotating wheel 205 is rotatably connected with the support frame 201 through a connecting shaft, one end of the belt 204 is fixedly provided with a moving block 208 through bolts, the bottom end of the moving block 208 is slidably connected with a sliding rail 206, the top end of the moving block 208 is fixedly provided with the moving plate 207 through bolts, the bottom end of the moving plate 207 is fixedly provided with a first rib plate 218 through bolts, the first rib plate 218 is of an L-shaped structure, the bottom end of the first rib plate 218 is fixedly provided with the first air cylinder 217 through bolts, the bottom end of the first air cylinder 217 is movably provided with a first push rod 216, the bottom end of the suction plate 215 is provided with a plurality of suckers 214 at equal intervals through threaded holes, the bottom ends of the suckers 214 are provided with a plurality of limiting rods 213, the plurality of limiting rods 213 are movably provided with a bearing plate 212 through mounting holes, so that the bearing plate 212 can move up and down along the length direction of the plurality of limiting rods 213, materials stacked on the bearing plate 212 can not fall off from one end of the bearing plate 212 through the limiting rods 213, the materials can be stably stored on the bearing plate 212 before throwing, the bottom ends of the plurality of limiting rods 213 are fixedly connected with the bottom frame through bolts, the bottom frame is fixedly connected with the throwing table 1 through bolts, one end of the bearing plate 212 is fixedly connected with the supporting plate 211 through bolts, one end of the supporting plate 211 is provided with a third motor 210 for driving the supporting plate 211 to move up and down along the length direction of the plurality of limiting rods 213, and the, the top end of the support plate 209 is fixedly connected with the support frame 201 through a bolt, the bottom end of the support plate 209 is fixedly connected with the throwing platform 1 through a bolt, when the unmanned aerial vehicle flies to a preset position, the third motor 210 is started, the third motor 210 drives the bearing plate 212 to move upwards, the bearing plate 212 drives materials to move upwards along the length direction of the limiting rods 213, the materials are moved to the position under the suckers 214, the first cylinder 217 is started, the first cylinder 217 drives the first push rod 216 to move downwards, the first push rod 216 pushes the suction plate 215 to move downwards, the suckers 214 move downwards to adsorb the materials, the second motor 202 is started, the second motor 202 drives the belt 204 to rotate through the first rotating wheel 203, the belt 204 drives the moving block 208 to move along the length direction of the sliding rail 206, and the moving block 208 drives the moving plate 207 to move towards one end of the transition platform 3, and then move the goods and materials to transition platform 3 in proper order through a plurality of sucking discs 214, through setting up second motor 202 and third motor 210 for the goods and materials can be transferred to transition platform 3 in proper order automatically and conveniently throw, and then make the throwing volume of goods and materials can adjust through second motor 202 pivoted speed, make the material loading process controllable in the throwing process, thereby make the throwing volume of goods and materials controllable, thereby improved the throwing efficiency of goods and materials greatly, and then improved rescue efficiency.
The feeding mechanism 5 comprises a placing table 502, a second air cylinder 503, a push plate 505 and a third air cylinder 508, the placing table 502 is fixedly connected with the mounting frame 501 through bolts, a groove for placing the storage plate 4 is arranged at the top end of the placing table 502, the bottom end of the mounting frame 501 is fixedly connected with the throwing table 1 through bolts, the top end of the mounting frame 501 is fixedly provided with the second air cylinder 503 through bolts, one end of the second air cylinder 503 is movably provided with a second push rod 504, one end of the second push rod 504 is fixedly connected with the push plate 505 through a folded plate, the bottom end of the push plate 505 is fixedly provided with a first slide block 506 through bolts, the bottom end of the first slide block 506 is slidably connected with a first guide rail 507, the bottom end of the first guide rail 507 is fixedly connected with the mounting frame 501 through bolts, one end of the push plate 505 is fixedly provided with the third air cylinder 508 through bolts, the bottom end of the third air cylinder 508 is movably provided with a third, the gripping disk 510 is used for transferring the materials from the transition table 3 to the storage plate 4 for convenient throwing, and further before throwing, the second cylinder 503 is started, the second cylinder 503 pushes the second push rod 504 to move, so that the second push rod 504 pushes the push plate 505 to move along the length direction of the first guide rail 507, so that the third cylinder 508 moves above the transition table 3, the third cylinder 508 is started, the third cylinder 508 pushes the third push rod 509 to move downwards, so as to drive the gripping disk 510 to move downwards to grip the materials, and move the materials to the storage plate 4 arranged on the placement table 502, so that the throwing mechanism 6 is convenient to throw, by arranging the second cylinder 503, the second cylinder 503 can automatically drive the third cylinder 508 to move along the horizontal direction, so that the third cylinder 508 drives the gripping disk 510 to grip the materials, so that the materials can be sequentially and continuously placed on the storage plate 4, the throwing mechanism 6 can continuously throw the goods and materials, so that the throwing of the goods and materials can be carried out as required, and the rescue efficiency is improved.
The working method of the throwing device specifically comprises the following steps:
firstly, storing materials on a
secondly, starting a
in the third step, the
fourthly, after the material is grabbed, the
When the invention is used, the first motor 601 is arranged, the first motor 601 drives the first rotating shaft 602 to rotate, the grabbing cylinder 609 drives the telescopic rods at two ends to move reversely, when the clamping plate 610 moves to one end of a material, the grabbing cylinder 609 drives the telescopic rods at two ends to move oppositely, the movable arm 604 drives the clamping plate 610 to move oppositely so as to grab the material, after the material is grabbed, the first rotating shaft 602 drives the rotating arm 605 to rotate reversely, the connecting rod 606 moves to a throwing port arranged at the bottom end of the unmanned aerial vehicle through the rotating arm 605, the grabbing cylinder 609 drives the telescopic rods to move, so that the telescopic rods drive the two second sliding blocks 612 to move reversely, the material grabbed by the two clamping plates 610 is thrown from the throwing port, and the material is thrown from the storage plate 4 through the throwing port in sequence through the first motor 601 through the arrangement of the first motor 601, so that the throwing of the material can meet the multiple throwing requirements of different areas, after the goods and materials are thrown by the throwing device, throwing areas of the goods and materials can be thrown according to actual needs, so that the rescue efficiency is higher; the third motor 210 drives the bearing plate 212 to move upwards, so that the bearing plate 212 drives the material to move upwards along the length direction of the limiting rods 213, the material is moved to the position under the suckers 214, the first cylinder 217 drives the first push rod 216 to move downwards, the first push rod 216 pushes the sucker 215 to move downwards, so that the suckers 214 move downwards to adsorb the material, the second motor 202 drives the belt 204 to rotate through the first rotating wheel 203, the material is sequentially moved to the transition table 3 through the suckers 214, the material can be sequentially and automatically transferred to the transition table 3 through the arrangement of the second motor 202 and the third motor 210 so as to be conveniently thrown, the throwing amount of the material can be adjusted through the rotating speed of the second motor 202, the material feeding process in the throwing process is controllable, and the throwing amount of the material is controllable, therefore, the throwing efficiency of the materials is greatly improved, and the rescue efficiency is further improved; through setting up the catch tray 510, the second cylinder 503 promotes the second push rod 504 and moves, so that the third cylinder 508 moves to the top of transition platform 3, the third cylinder 508 promotes the third push rod 509 and moves downwards, so as to drive the catch tray 510 to move downwards and grab the goods, and move the goods to the storage plate 4 arranged on the placement platform 502, so that the throwing mechanism 6 can throw the goods conveniently, through setting up the second cylinder 503, so that the second cylinder 503 can automatically drive the third cylinder 508 to move along the horizontal direction, so that the third cylinder 508 drives the catch tray 510 to grab the goods, so that the goods can be successively and continuously placed on the storage plate 4, so that the throwing mechanism 6 can continuously throw the goods, and further the throwing of the goods can be carried out as required, and further the rescue efficiency is improved.
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
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