阅读说明：本技术 一种空中货物运输定点自动巡航卸物的航天无人机 (Space unmanned aerial vehicle capable of achieving fixed-point automatic cruising and unloading of goods during air cargo transportation ) 是由 杨国聪 徐焱明 于 2020-11-06 设计创作，主要内容包括：一种空中货物运输定点自动巡航卸物的航天无人机,包括飞行动力模块、连接臂管模块、飞机本体模块以及智能装卸箱模块。本发明针对目前只依靠纯刚性自动抓取货物或者人工装卸货物的技术现状,可实现货物的智能识别、自动装箱、自动卸箱和运输过程柔性夹持等作业特点。不仅提高了智能运输货物的能力,也提高了货物的抗破损能力。(The utility model provides an automatic space flight unmanned aerial vehicle who cruises in air freight fixed point unloads thing, includes flight power module, linking arm pipe module, aircraft body module and intelligent loading and unloading case module. Aiming at the current technical situation that only pure rigidity is used for automatically grabbing goods or manually loading and unloading goods at present, the invention can realize the operation characteristics of intelligent recognition, automatic boxing, automatic unloading, flexible clamping in the transportation process and the like of the goods. Not only the ability of intelligent transportation goods has been improved, the anti breakage ability of goods has also been improved.)

1. The utility model provides an aerial cargo transportation fixed point automatic cruise unloads space flight unmanned aerial vehicle of thing which characterized in that:

the space unmanned aerial vehicle comprises a flight power module, a connecting arm pipe module, an aircraft body module and an intelligent loading and unloading box module;

the flight power module consists of 6 groups of blades and 6 corresponding groups of blade driving motors and provides power for the flight of the space unmanned aerial vehicle; the aircraft body module is internally provided with a master controller and a battery module and is used for controlling the working state of the space unmanned aerial vehicle in real time; the connecting arm pipe module consists of a plurality of arm pipes and corresponding fixing pieces and is used for connecting the flight power module and the airplane body module, so that the flight power module and the airplane body module have fixed relative positions in flight; the intelligent loading and unloading box module is arranged below the aircraft body module and used for automatically loading and unloading goods and ensuring that the goods do not slide relative to the goods storage box body in the transportation process.

2. The space unmanned aerial vehicle for air cargo transportation fixed-point automatic cruise unloading according to claim 1, wherein the intelligent loading and unloading box module is composed of a loading and unloading driving motor, a synchronous pulley assembly, a screw rod bearing seat, a lifting nut slider, a main lifting screw rod, a right inflation control assembly, a right air cushion, a right bottom plate, a bidirectional screw rod, a right horizontal nut slider, a box door driving motor, a left horizontal nut slider, a left bottom plate, an auxiliary lifting screw rod, a left air cushion, a left inflation control assembly, a lifting plate, an image acquisition unit, a synchronous belt, a vacuum generator assembly, a connecting pipeline assembly and a vacuum sponge sucker assembly.

3. An airborne cargo transportation fixed-point automatic cruise unloading space unmanned aerial vehicle as claimed in claim 1, wherein said intelligent loading and unloading box module can respond to the transportation task command of the master controller, and has 6 operation actions of cargo identification, loading and unloading box opening, cargo automatic loading, loading and unloading box closing, cargo flexible clamping transportation and cargo automatic unloading box.

4. The intelligent handling box module as claimed in claim 2, wherein the handling driving motor is used to drive the synchronous pulley assembly and the main lifting screw to rotate clockwise or counterclockwise, the synchronous pulley assembly is linked with the auxiliary lifting screw through a synchronous belt, the main lifting screw is fixed on the screw bearing seat, the lifting nut block can move up and down along the rotation axis of the main lifting screw when the main lifting screw rotates, the lifting plate is connected with the lifting nut block, and the vacuum generator assembly, the connecting pipeline assembly and the vacuum sponge sucker assembly are fixedly mounted on the lifting plate.

5. The intelligent cargo box module of claim 2, wherein said right inflation control assembly is for inflation and deflation of said right air cushion and said left inflation control assembly is for inflation and deflation of said left air cushion.

6. The intelligent handling box module of claim 2, wherein the box door drive motor is of a pass-through configuration and drives the bi-directional threaded screw rod to rotate;

the left horizontal nut sliding block and the right horizontal nut sliding block are respectively installed on the left and the right of the bidirectional threaded screw rod, and when the bidirectional threaded screw rod rotates, the left horizontal nut sliding block and the right horizontal nut sliding block are synchronously driven to move close to or away from each other along the direction of the rotation axis of the bidirectional threaded screw rod;

the right bottom plate and the right horizontal nut slider are fixedly installed and move in a linkage mode, and the left bottom plate and the left horizontal nut slider are fixedly installed and move in a linkage mode.

7. The space unmanned aerial vehicle for air cargo transportation, fixed-point automatic cruise unloading, according to claim 1, wherein the space unmanned aerial vehicle can realize intelligent cargo loading, unloading and transportation operation, and the work flow is as follows:

step 1, identifying goods:

when the space unmanned aerial vehicle reaches the position near the goods to be transported, remotely identifying whether the goods are the goods to be transported by using the image acquisition unit;

step 2, opening a loading and unloading box:

if the goods are correct, the master controller sends a door opening instruction to the intelligent loading and unloading box module, the door driving motor is utilized to drive the bidirectional threaded screw rod clockwise, and the left horizontal nut slider and the right horizontal nut slider move away from each other along the direction of the rotation axis of the bidirectional threaded screw rod, so that the left bottom plate and the right bottom plate move away from each other in a linkage manner, and the loading and unloading box is opened;

step 3, automatic packing of goods:

after the loading and unloading box is opened, the loading and unloading driving motor controls the lifting plate to move downwards through the lifting nut slider, the vacuum generator assembly on the lifting plate starts to extract air on the vacuum sponge sucker assembly, and after the vacuum sponge sucker adsorbs goods, the loading and unloading driving motor controls the lifting plate to move upwards through the lifting nut slider so as to load the goods into the box body;

step 4, closing the loading and unloading box:

when the lifting plate rises to an initial position, the master controller sends a door closing instruction to the intelligent loading and unloading box module, the door driving motor drives the bidirectional threaded screw rod anticlockwise, and the left horizontal nut slider and the right horizontal nut slider move close to each other along the direction of the rotation axis of the bidirectional threaded screw rod, so that the left bottom plate and the right bottom plate move close to each other in a linkage manner, and the loading and unloading box is closed;

step 5, flexible clamping and transporting of goods:

after the loading and unloading box is closed, the master controller sends a command of flexibly clamping and transporting goods to the intelligent loading and unloading box module, the left air inflation control assembly and the right air inflation control assembly are used for respectively inflating the left air cushion and the right air cushion, when the left air cushion and the right air cushion expand due to inflation and flexibly clamp the goods, the left air inflation control assembly and the right air inflation control assembly control air valves of the left air cushion and the right air cushion to be closed and maintain pressure, and at the moment, the vacuum sponge sucker unloads suction force;

step 6, automatically unloading the goods;

after the goods reach the ground, the vacuum sponge sucker unloads the box body by controlling the descending motion of the lifting plate, and after the goods reach the ground, the vacuum sponge sucker unloads the suction force and returns to the initial position;

and 7, closing the loading and unloading box:

after the goods are unloaded, the loading and unloading box is started and closed again to wait for a next transportation instruction.

Technical Field

The invention relates to the field of unmanned aerial vehicle equipment, in particular to a space unmanned aerial vehicle for fixed-point automatic cruising and unloading of air cargo transportation.

Background

In order to improve the unmanned degree of the unmanned aerial vehicle in the operation of transporting goods, the automatic loading and unloading of goods to be transported need to be realized. At present, the unmanned aerial vehicle can remotely grab and release some light-load cargos by using some mechanical clamping jaws. However, when the cargo is too heavy, the cargo swings in the transportation process to affect the flight stability and safety, and the problem that the transported goods are damaged due to jolt and shake cannot be guaranteed in the flight process, so that the special transportation module for intelligent fixed-point automatic cruising and unloading needs to be designed.

Disclosure of Invention

To the current technical situation at present, the inventor provides a space flight unmanned aerial vehicle that unloads thing of automatic cruising of aerial cargo transportation fixed point, its characterized in that: the space unmanned aerial vehicle comprises a flight power module, a connecting arm pipe module, an aircraft body module and an intelligent loading and unloading box module;

the flight power module consists of 6 groups of blades and 6 corresponding groups of blade driving motors and provides power for the flight of the space unmanned aerial vehicle; the aircraft body module is internally provided with a master controller and a battery module and is used for controlling the working state of the space unmanned aerial vehicle in real time; the connecting arm pipe module consists of a plurality of arm pipes and corresponding fixing pieces and is used for connecting the flight power module and the airplane body module, so that the flight power module and the airplane body module have fixed relative positions in flight; the intelligent loading and unloading box module is arranged below the aircraft body module and used for automatically loading and unloading goods and ensuring that the goods do not slide relative to the goods storage box body in the transportation process.

Furthermore, intelligence loading and unloading case module comprises loading and unloading driving motor, hold-in range wheel subassembly, lead screw bearing frame, lift nut slider, main lift lead screw, right inflation control subassembly, right air cushion, right bottom plate, two-way screw lead screw, right horizontal nut slider, chamber door driving motor, left horizontal nut slider, left bottom plate, vice lift lead screw, left air cushion, left inflation control subassembly, lifter plate, image acquisition unit, hold-in range, vacuum generator subassembly, connecting tube assembly and vacuum sponge sucking disc subassembly.

Furthermore, the intelligent loading and unloading box module can respond to a transportation task instruction of the master controller and has 6 operation actions of cargo identification, loading and unloading box opening, cargo automatic loading, loading and unloading box closing, cargo flexible clamping transportation and cargo automatic unloading.

Loading and unloading driving motor is used for the drive synchronous pulley subassembly and the clockwise or anticlockwise rotation of main lift lead screw, synchronous pulley subassembly passes through the vice lift lead screw of hold-in range linkage, main lift lead screw is fixed on the screw rod bearing frame, the lift nut slider can be along main lift lead screw axis of revolution up-and-down motion when main lift lead screw rotates, the lifter plate with the lift nut slider is connected, fixed mounting vacuum generator subassembly, connecting tube subassembly and vacuum sponge sucking disc subassembly on the lifter plate.

The right inflation control assembly is used for inflating and deflating the right air cushion, and the left inflation control assembly is used for inflating and deflating the left air cushion.

Furthermore, the box door driving motor adopts a through structure and drives the bidirectional threaded screw rod to rotate. The left horizontal nut sliding block and the right horizontal nut sliding block are respectively installed on the left and the right of the bidirectional threaded screw rod, and when the bidirectional threaded screw rod rotates, the left horizontal nut sliding block and the right horizontal nut sliding block are synchronously driven to move close to or away from each other along the direction of the rotary axis of the bidirectional threaded screw rod. The right bottom plate and the right horizontal nut slider are fixedly installed and move in a linkage mode, and the left bottom plate and the left horizontal nut slider are fixedly installed and move in a linkage mode.

Further, space unmanned aerial vehicle can realize the intelligent loading and unloading and the transportation operation of goods, and its work flow is:

step 1, identifying goods:

when the space unmanned aerial vehicle reaches the position near the goods to be transported, remotely identifying whether the goods are the goods to be transported by using the image acquisition unit;

step 2, opening a loading and unloading box:

if the goods are correct, the master controller sends a door opening instruction to the intelligent loading and unloading box module, the door driving motor is utilized to drive the bidirectional threaded screw rod clockwise, and the left horizontal nut slider and the right horizontal nut slider move away from each other along the direction of the rotation axis of the bidirectional threaded screw rod, so that the left bottom plate and the right bottom plate move away from each other in a linkage manner, and the loading and unloading box is opened;

step 3, automatic packing of goods:

after the loading and unloading box is opened, the loading and unloading driving motor controls the lifting plate to move downwards through the lifting nut slider, the vacuum generator assembly on the lifting plate starts to extract air on the vacuum sponge sucker assembly, and after the vacuum sponge sucker adsorbs goods, the loading and unloading driving motor controls the lifting plate to move upwards through the lifting nut slider so as to load the goods into the box body;

step 4, closing the loading and unloading box:

when the lifting plate rises to an initial position, the master controller sends a door closing instruction to the intelligent loading and unloading box module, the door driving motor drives the bidirectional threaded screw rod anticlockwise, and the left horizontal nut slider and the right horizontal nut slider move close to each other along the direction of the rotation axis of the bidirectional threaded screw rod, so that the left bottom plate and the right bottom plate move close to each other in a linkage manner, and the loading and unloading box is closed;

step 5, flexible clamping and transporting of goods:

after the loading and unloading box is closed, the master controller sends a command of flexibly clamping and transporting goods to the intelligent loading and unloading box module, the left air inflation control assembly and the right air inflation control assembly are used for respectively inflating the left air cushion and the right air cushion, when the left air cushion and the right air cushion expand due to inflation and flexibly clamp the goods, the left air inflation control assembly and the right air inflation control assembly control air valves of the left air cushion and the right air cushion to be closed and maintain pressure, and at the moment, the vacuum sponge sucker unloads suction force;

step 6, automatically unloading the goods;

after the goods reach the ground, the vacuum sponge sucker unloads the box body by controlling the descending motion of the lifting plate, and after the goods reach the ground, the vacuum sponge sucker unloads the suction force and returns to the initial position;

and 7, closing the loading and unloading box:

after the goods are unloaded, the loading and unloading box is started and closed again to wait for a next transportation instruction.

Be different from current unmanned aerial vehicle transportation operation technical current situation that can't realize heavy load goods auto-control handling, above-mentioned technical scheme has following advantage: the space unmanned aerial vehicle capable of achieving fixed-point automatic cruising and unloading of goods in air comprises a flight power module, a connecting arm pipe module, an aircraft body module and an intelligent loading and unloading box module, and can achieve the operation characteristics of intelligent identification, automatic boxing, automatic unloading, flexible clamping in the transportation process and the like of the goods. Not only the capacity of transporting goods is improved, but also the breakage resistance of the goods is improved.

Drawings

FIG. 1 is a schematic diagram of the components of an aerospace unmanned aerial vehicle for fixed-point automatic cruise and unloading of air cargo transportation;

fig. 2 is a schematic diagram of the components of the intelligent cargo box module.

Description of reference numerals:

1. a flight power module; 2. connecting the arm pipe module; 3. an aircraft body module; 4. an intelligent loading and unloading box module; 401. loading and unloading the driving motor; 402. a synchronous pulley assembly; 403. a screw rod bearing seat; 404. lifting the nut slider; 405. a main lifting screw rod; 406. a right inflation control assembly; 407. a right air cushion; 408. a right base plate; 409. a bidirectional threaded screw rod; 410. a right horizontal nut slider; 411. a door drive motor; 412. a left horizontal nut slider; 413. a left bottom plate; 414. an auxiliary lifting screw rod; 415. a left air cushion; 416. a left inflation control assembly; 417. a lifting plate; 418. an image acquisition unit; 419. a synchronous belt; 420. a vacuum generator assembly; 421. connecting the pipe components; 421. vacuum sponge sucking disc group.

Detailed Description

To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.

Referring to fig. 1 and 2, the inventor provides an aerospace unmanned aerial vehicle for fixed-point automatic cruising and unloading of air cargo transportation, which is characterized in that: space flight unmanned aerial vehicle includes that flight power module 1, linking arm pipe module 2, aircraft body module 3 and intelligent loading and unloading case module 4 constitute. The flight power module 1 consists of 6 groups of blades and 6 corresponding groups of blade driving motors and provides power for the flight of the space unmanned aerial vehicle; the aircraft body module 2 is internally provided with a master controller and a battery module and is used for controlling the working state of the space unmanned aerial vehicle in real time; the connecting arm pipe module 3 consists of a plurality of arm pipes and corresponding fixing pieces and is used for connecting the flight power module 1 and the airplane body module 2, so that the flight power module 1 and the airplane body module 2 have fixed relative positions in flight; the intelligent loading and unloading box module 4 is arranged below the aircraft body module 2 and used for automatically loading and unloading goods and ensuring that the goods do not slide relative to the goods storage box body in the transportation process.

As a preferred structure of the present invention, the intelligent loading and unloading box module 4 is composed of a loading and unloading driving motor 401, a synchronous pulley assembly 402, a screw shaft bearing block 403, a lifting nut slider 404, a main lifting screw 405, a right inflation control assembly 406, a right air cushion 407, a right bottom plate 408, a bidirectional screw 409, a right horizontal nut slider 410, a box door driving motor 411, a left horizontal nut slider 412, a left bottom plate 413, a sub lifting screw 414, a left air cushion 415, a left inflation control assembly 416, a lifting plate 417, an image acquisition unit 418, a synchronous belt 419, a vacuum generator assembly 420, a connecting pipe assembly 421 and a vacuum sponge suction cup assembly 422.

Furthermore, the intelligent loading and unloading box module 4 can respond to a transportation task instruction of the master controller, and has 6 operation actions of cargo identification, loading and unloading box opening, cargo automatic loading, loading and unloading box closing, cargo flexible clamping transportation and cargo automatic unloading. Through the cooperation of these movements, can realize unmanned automatic handling and transportation operation of goods, the concrete realization principle is as follows:

step 1, identifying goods:

when the space drone arrives near the cargo to be transported, the image acquisition unit 418 is utilized to remotely identify whether the cargo is an item to be transported. If the goods do not accord with the requirements, the transportation task is terminated; if the goods are in accordance with the requirements, the conveying task is continued.

Step 2, opening a loading and unloading box:

if the goods are correct, the master controller sends a door opening instruction to the intelligent loading and unloading box module 4, the door driving motor 411 is utilized to drive the bidirectional threaded screw rod 409 clockwise, and as the door driving motor 411 adopts a penetrating structure, when the driven bidirectional threaded screw rod 409 rotates, the left horizontal nut slide block 412 and the right horizontal nut slide block 410 move away from each other along the direction of the rotation axis of the bidirectional threaded screw rod 409. Further, the right bottom plate 408 and the left bottom plate 413 move away from each other, so that the loading and unloading box is opened.

Step 3, automatic packing of goods:

after the loading and unloading box is opened, the loading and unloading driving motor 401 is used for driving the synchronous pulley assembly 402 and the main lifting screw rod 405 to rotate clockwise, the synchronous pulley assembly 402 is linked with the auxiliary lifting screw rod 414 through a synchronous belt, and then the lifting nut sliders 404 can move downwards along the rotation axis of the main lifting screw rod when the main lifting screw rod 405 rotates, so that the lifting plate 417 moves downwards. At this time, the vacuum generator assembly 420, the connection pipe assembly 421 and the vacuum sponge chuck assembly 422 fixedly mounted on the lifting plate 417 are also lowered together. In the descending process, the vacuum generator assembly 420 starts to extract air on the vacuum sponge sucker assembly 422, and after the vacuum sponge sucker 422 adsorbs goods, the loading and unloading driving motor 401 starts to move anticlockwise, so that the lifting plate 417 is controlled to move upwards, and the goods are loaded into the box body.

Step 4, closing the loading and unloading box:

the board 417 to be lifted is raised to the initial position and the cargo is also inside the loading and unloading box. The master controller sends a door closing instruction to the intelligent loading and unloading box module 4, the door driving motor 411 drives the bidirectional threaded screw rod 409 anticlockwise, and the left horizontal nut slider 412 and the right horizontal nut slider 410 move close to each other along the rotation axis direction of the bidirectional threaded screw rod 409, so that the left bottom plate 408 and the right bottom plate 409 move close to each other in a linkage manner, and the loading and unloading box is closed.

Step 5, flexible clamping and transporting of goods:

after the loading and unloading box is closed, the master controller sends a command of flexible cargo clamping and transportation to the intelligent loading and unloading box module 4, the left inflation control assembly 416 and the right inflation control assembly 406 are used for respectively inflating the left air cushion 415 and the right air cushion 407, when the left air cushion 415 and the right air cushion 407 expand due to inflation and flexibly clamp cargoes, the left inflation control assembly 416 and the right inflation control assembly 406 control air valves of the left air cushion 415 and the right air cushion 407 to close and maintain pressure, and at the moment, the vacuum sponge suction cup 422 starts to unload suction force;

step 6, automatically unloading the goods;

after the cargo reaches the transportation position, the master controller sends a cargo automatic unloading command to the intelligent unloading and loading module 4, the vacuum sponge sucker 422 adsorbs the cargo again, after the air valves of the left air cushion 415 and the right air cushion 407 are opened and deflated and the unloading and loading box is opened, the loading and unloading driving motor 401 unloads the cargo from the box body by controlling the descending motion of the lifting plate 417, and after the cargo reaches the ground, the vacuum sponge sucker 422 unloads the suction force and returns to the initial position;

and 7, closing the loading and unloading box:

after the goods are unloaded, the loading and unloading box is started and closed again to wait for a next transportation instruction.

Different from the current technical situation that only the pure rigidity is used for automatically grabbing goods or manually loading and unloading goods, the technical scheme has the following advantages: the space unmanned aerial vehicle capable of achieving fixed-point automatic cruising and unloading of goods in air comprises a flight power module, a connecting arm pipe module, an aircraft body module and an intelligent loading and unloading box module, and can achieve the operation characteristics of intelligent identification, automatic boxing, automatic unloading, flexible clamping in the transportation process and the like of the goods. Not only the ability of intelligent transportation goods has been improved, the anti breakage ability of goods has also been improved.

It should be noted that, although the above embodiments have been described herein, the invention is not limited thereto. Therefore, based on the innovative concepts of the present invention, the technical solutions of the present invention can be directly or indirectly applied to other related technical fields by making changes and modifications to the embodiments described herein, or by using equivalent structures or equivalent processes performed in the content of the present specification and the attached drawings, which are included in the scope of the present invention.