CN115123546A - Cargo releasing and recovering equipment - Google Patents
Cargo releasing and recovering equipmentDownload PDFInfo
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- CN115123546A CN115123546ACN202210959848.1ACN202210959848ACN115123546ACN 115123546 ACN115123546 ACN 115123546ACN 202210959848 ACN202210959848 ACN 202210959848ACN 115123546 ACN115123546 ACN 115123546A
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- 230000007246mechanismEffects0.000claimsabstractdescription382
- 238000004064recyclingMethods0.000claimsabstractdescription114
- 238000011084recoveryMethods0.000claimsabstractdescription36
- 230000008878couplingEffects0.000claimsdescription14
- 238000010168coupling processMethods0.000claimsdescription14
- 238000005859coupling reactionMethods0.000claimsdescription14
- 239000003638chemical reducing agentSubstances0.000claimsdescription11
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- 239000000203mixtureSubstances0.000claimsdescription9
- 230000005540biological transmissionEffects0.000claimsdescription8
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- 230000004048modificationEffects0.000description2
- 230000008569processEffects0.000description2
- 230000009286beneficial effectEffects0.000description1
- 238000002716delivery methodMethods0.000description1
- 230000009916joint effectEffects0.000description1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明涉及高空和深井中货物的投放和回收技术领域，具体涉及一种货物投放和回收设备。The invention relates to the technical field of the delivery and recovery of goods in high altitudes and deep wells, in particular to a device for delivery and recovery of goods.
背景技术Background technique
目前，现有货物投放和回收方法主要有滑跑降落回收、伞降回收、撞网回收、横式撞线回收、绳钩回收等。这些投放方法大多采用无人机+钢丝绳吊装的形式，如公开号为CN216070524U的中国专利公开的一种用于无人直升机的货物投放装置，该装置包括机体、机体底部设有控制柜、控制柜内部设有电动推杆、电动推杆输出轴顶部设有压力传感器、控制柜底部设有若干个立柱、立柱外壁设有收纳槽、收纳槽内壁活动设有挡杆、挡杆上设有转动轴、若干个立柱下端均设有挂板、挂板底部边缘设有吊绳，吊绳底部悬吊货物。该装置解决了传统货物投放装置结构复杂、挂载货物和投放货物较麻烦，实用性差以及不便于监测挂载货物重量且功能单一的问题。但是该装置存在以下问题：该装置仅通过立柱下端的挂板以及挂板底部边缘的吊绳并采用电动推杆实现悬吊货物，该装置不具备吊绳回收功能，同时在悬吊货物过程中不具备吊绳自动投放功能，降低投放效率；并且若干个立柱下端的吊绳在悬吊货物过程中可能存在相互缠绕情况，可能会使吊装的货物产生晃动，降低货物投放的稳定性，而对于投放准确度较高的使用场景如深井，则无法实现准确投放，特别是对于一些易碎或重量较大的货物，易造成货物损坏，甚至会由于惯性较大而发生货物坠落等危险情况，降低货物投放与回收的安全性。At present, the existing cargo delivery and recovery methods mainly include roll-off landing recovery, parachute landing recovery, collision net recovery, horizontal collision line recovery, rope hook recovery, etc. Most of these delivery methods are in the form of drone + wire rope hoisting, such as a cargo delivery device for unmanned helicopters disclosed in Chinese Patent Publication No. CN216070524U. The device includes a body, a control cabinet and a control cabinet at the bottom of the body. There is an electric push rod inside, a pressure sensor on the top of the output shaft of the electric push rod, a number of columns at the bottom of the control cabinet, a storage slot on the outer wall of the column, a blocking rod on the inner wall of the storage slot, and a rotating shaft on the blocking rod , The lower ends of several uprights are provided with hanging boards, the bottom edge of the hanging boards is provided with hanging ropes, and the goods are suspended at the bottom of the hanging ropes. The device solves the problems of complex structure, troublesome loading and delivery of goods, poor practicability, inconvenient monitoring of the weight of the loaded goods and single function of the traditional cargo delivery device. However, this device has the following problems: the device only uses the hanging plate at the lower end of the column and the hanging rope at the bottom edge of the hanging plate to suspend the goods, and the electric push rod is used to suspend the goods. The device does not have the function of recovering the hanging rope. It does not have the automatic delivery function of the sling, which reduces the delivery efficiency; and the slings at the lower ends of several columns may be intertwined during the process of suspending the goods, which may cause the hoisted goods to shake and reduce the stability of the goods delivery. Use scenarios with high delivery accuracy, such as deep wells, cannot achieve accurate delivery. Especially for some fragile or heavy goods, it is easy to cause damage to the goods, and even dangerous situations such as goods falling due to large inertia, reduce The safety of cargo delivery and recycling.
发明内容SUMMARY OF THE INVENTION
基于此，本发明提供一种货物投放与回收设备，以解决上述技术问题。Based on this, the present invention provides a device for placing and recycling goods to solve the above technical problems.
本发明为解决技术问题所采用的技术方案如下：The technical scheme adopted by the present invention for solving the technical problem is as follows:
本发明的一种货物投放和回收设备，包括：A kind of goods delivery and recovery equipment of the present invention includes:
结构组成均相同的第一钢丝绳投放和回收机构、第二钢丝绳投放和回收机构、第三钢丝绳投放和回收机构；所述第一钢丝绳投放和回收机构、第二钢丝绳投放和回收机构、第三钢丝绳投放和回收机构的轴线组成等边三角形；The first wire rope throwing and recycling mechanism, the second wire rope throwing and recycling mechanism, and the third wire rope throwing and recycling mechanism have the same structure and composition; the first wire rope throwing and recycling mechanism, the second wire rope throwing and recycling mechanism, the third wire rope The axes of the throwing and recycling mechanisms form an equilateral triangle;
分别对应安装在第一钢丝绳投放和回收机构、第二钢丝绳投放和回收机构、第三钢丝绳投放和回收机构上的第一钢丝绳、第二钢丝绳、第三钢丝绳；所述第一钢丝绳、第二钢丝绳、第三钢丝绳在水平面上的投影为等边三角形的三个顶点；The first wire rope, the second wire rope and the third wire rope respectively installed on the first wire rope throwing and recycling mechanism, the second wire rope throwing and recycling mechanism, and the third wire rope throwing and recycling mechanism; the first wire rope and the second wire rope , the projection of the third wire rope on the horizontal plane is the three vertices of an equilateral triangle;
结构组成均相同的第一固定件投放和回收机构、第二固定件投放和回收机构、第三固定件投放和回收机构；所述第一固定件投放和回收机构位于第一钢丝绳和第三钢丝绳组成的平面外侧，所述第二固定件投放和回收机构位于第一钢丝绳和第二钢丝绳组成的平面外侧，所述第三固定件投放和回收机构位于第二钢丝绳和第三钢丝绳组成的平面外侧；所述第一固定件投放和回收机构、第二固定件投放和回收机构、第三固定件投放和回收机构均布置在所述第一钢丝绳投放和回收机构、第二钢丝绳投放和回收机构、第三钢丝绳投放和回收机构下方；The first fixing piece throwing and recycling mechanism, the second fixing piece throwing and recycling mechanism, and the third fixing piece throwing and recycling mechanism are all the same in structure; Outside the plane composed of the second fixing member, the second fixing member throwing and recycling mechanism is located on the outer side of the plane composed of the first wire rope and the second wire rope, and the third fixing member throwing and recycling mechanism is located at the outer side of the plane composed of the second wire rope and the third wire rope. ; The first fixing member throwing and recycling mechanism, the second fixing member throwing and recycling mechanism, the third fixing member throwing and recycling mechanism are all arranged in the first wire rope throwing and recycling mechanism, the second wire rope throwing and recycling mechanism, Below the third wire rope release and recovery mechanism;
结构组成均相同的第一钢丝绳固定件机构、第二钢丝绳固定件机构、第三钢丝绳固定件机构；所述第一钢丝绳固定件机构、第二钢丝绳固定件机构、第三钢丝绳固定件机构的数量相同；所述第一钢丝绳固定件机构、第二钢丝绳固定件机构、第三钢丝绳固定件机构分别对应安装在所述第一固定件投放和回收机构、第二固定件投放和回收机构、第三钢丝绳固定件机构上。The first wire rope fixing member mechanism, the second wire rope fixing member mechanism and the third wire rope fixing member mechanism with the same structural composition; the number of the first wire rope fixing member mechanism, the second wire rope fixing member mechanism and the third wire rope fixing member mechanism The same; the first wire rope fixing member mechanism, the second wire rope fixing member mechanism, and the third wire rope fixing member mechanism are respectively installed in the first fixing member throwing and recycling mechanism, the second fixing member throwing and recycling mechanism, and the third wire rope fixing member. on the wire rope fixing mechanism.
进一步的，所述第一钢丝绳投放和回收机构包括：第一机架，安装在第一机架上的电机，第二机架，均固定在第二机架上的卷筒、减速器和排绳器；所述卷筒右端与减速器左端相连，减速器右端通过第一联轴器与电机相连，第一钢丝绳缠绕在卷筒上，第一钢丝绳端部通过排绳器导出。Further, the first wire rope throwing and recycling mechanism includes: a first frame, a motor installed on the first frame, a second frame, a reel, a reducer and a row all fixed on the second frame. The right end of the reel is connected to the left end of the reducer, the right end of the reducer is connected to the motor through the first coupling, the first wire rope is wound on the reel, and the end of the first wire rope is led out through the rope discharger.
进一步的，所述排绳器包括：与第二机架相连的固定支架，均安装在固定支架下端的排绳轮、钢丝绳锁轴，所述钢丝绳锁轴靠近排绳轮布置，所述第一钢丝绳通过排绳轮与钢丝绳锁轴中心孔穿过。Further, the rope arranging device includes: a fixed bracket connected with the second frame, a rope arranging wheel and a wire rope lock shaft are installed on the lower end of the fixed bracket, the wire rope lock shaft is arranged close to the rope arranging wheel, and the first The wire rope passes through the central hole of the wire rope lock shaft through the rope arrangement wheel.
进一步的，所述第一固定件投放和回收机构包括：第三机架，固定在第三机架上的伺服电机、第一涡轮丝杆机构、第二涡轮丝杆机构，与第一涡轮丝杆机构和第二涡轮丝杆机构相连的存储机构，固定在下支撑座上的电推杆固定座，安装在电推杆固定座上的电推杆，安装在电推杆端部的装夹机构；所述伺服电机输出端与第一涡轮丝杆机构相连，第一涡轮丝杆机构与传动轴一端通过第二联轴器相连，传动轴另一端通过第三联轴器与第二涡轮丝杆机构相连。Further, the first fixing member throwing and recycling mechanism includes: a third frame, a servo motor fixed on the third frame, a first turbine screw mechanism, a second turbine screw mechanism, and a first turbine screw. The storage mechanism connected with the rod mechanism and the second turbine screw mechanism, the electric push rod fixed seat fixed on the lower support base, the electric push rod installed on the electric push rod fixed seat, the clamping mechanism installed on the end of the electric push rod The output end of the servo motor is connected with the first turbine screw mechanism, the first turbine screw mechanism is connected with one end of the transmission shaft through the second coupling, and the other end of the transmission shaft is connected with the second turbine screw through the third coupling Institutions are connected.
进一步的，所述第三机架包括四个支角、下支撑座、四个支杆和上支撑座，下支撑座固定在四个支角上，四个支杆分别固定在下支撑座上表面四个角处，上支撑座固定在四个支杆上端；所述伺服电机固定在下支撑座右端，第二涡轮丝杆机构和第一涡轮丝杆机构分别安装在下支撑座左右两端。Further, the third frame includes four support corners, a lower support base, four support rods and an upper support base, the lower support base is fixed on the four support corners, and the four support rods are respectively fixed on the upper surface of the lower support base. At the four corners, the upper support seat is fixed on the upper ends of the four support rods; the servo motor is fixed on the right end of the lower support seat, and the second turbine screw mechanism and the first turbine screw mechanism are respectively installed on the left and right ends of the lower support seat.
进一步的，所述存储机构包括：平板和U形板，平板竖向安装在U形板内侧，U形板下端左右两侧分别与第二涡轮丝杆机构中的第二丝杆上端和第一涡轮丝杆机构中的第一丝杆上端相连，多个第一钢丝绳固定件机构由下至上依次放置在存储机构的U形板中。Further, the storage mechanism includes: a flat plate and a U-shaped plate, the flat plate is vertically installed on the inner side of the U-shaped plate, and the left and right sides of the lower end of the U-shaped plate are respectively connected with the upper end of the second screw rod and the first screw rod in the second turbine screw mechanism. The upper ends of the first screw rods in the turbine screw mechanism are connected, and a plurality of first wire rope fixing member mechanisms are sequentially placed in the U-shaped plate of the storage mechanism from bottom to top.
进一步的，所述装夹机构包括：U形块和电磁铁，电磁铁安装在U形块内部上端，U形块后端与电推杆端部相连。Further, the clamping mechanism includes: a U-shaped block and an electromagnet, the electromagnet is installed on the inner upper end of the U-shaped block, and the rear end of the U-shaped block is connected to the end of the electric push rod.
进一步的，所述第一钢丝绳固定件机构包括：第一件体、第二件体、第三件体、第一楔形固定机构、第二楔形固定机构、第三件体楔形驱动机构、件体复位弹簧和件体复位弹簧固定座；第一件体上表面中心内部左端设置成平面，第一件体右端设置有方形固定座，方形固定座端部侧面设置有弧形凹槽，方形固定座端部设置有第一安装孔、第二安装孔和第三安装孔；第二件体安装在第一件体右端且位于方形固定座下端，第三件体安装在第一件体右端，且第三件体扣合在第二件体上并通过螺栓相连；件体复位弹簧和件体复位弹簧固定座的数量均为两个，两个件体复位弹簧一端分别一一对应固定在两个件体复位弹簧固定座上，两个件体复位弹簧和两个件体复位弹簧固定座均安装在第三件体内部，两个件体复位弹簧另一端均固定在第一件体侧壁上，两个件体复位弹簧固定座上表面均于第三件体上端内壁相连；第三件体左端设置成楔形面，第三件体右端设置有条形凸起结构，条形凸起结构下表面设置有楔形块，楔形块下表面为楔形面；第一楔形固定机构安装在第一件体右端的方形固定座上，第二楔形固定机构安装在第一件体左端；第三件体楔形驱动机构安装在第一件体上表面中心；第三件体楔形驱动机构包括：楔形件体、第五复位弹簧和第六复位弹簧；楔形件体左端设置成平面，楔形件体右端设置成楔形面，第五复位弹簧和第六复位弹簧上端均固定在楔形件体下端，第五复位弹簧和第六复位弹簧均安装在第一件体上表面中心内部；工作时工作时楔形件体上端面与装夹机构中的电磁铁相接触，楔形件体右端的楔形面与第三件体左端的楔形面相接触，楔形件体左端的平面与第一件体上表面中心内部左端的平面相接触。Further, the first wire rope fixing mechanism includes: a first body, a second body, a third body, a first wedge-shaped fixing mechanism, a second wedge-shaped fixing mechanism, a third wedge-shaped driving mechanism, and a body The return spring and the body return spring fixing seat; the inner left end of the center of the upper surface of the first body is set to be flat, the right end of the first body is provided with a square fixing seat, the side of the end of the square fixing seat is provided with an arc groove, and the square fixing seat The end is provided with a first installation hole, a second installation hole and a third installation hole; the second body is installed at the right end of the first body and is located at the lower end of the square fixing seat, and the third body is installed at the right end of the first body, and The third body is fastened on the second body and connected by bolts; the number of the return spring of the body and the fixing seat of the return spring of the body are both two, and one end of the return spring of the two body is respectively fixed to the two On the body return spring fixing seat, the two body return springs and the two body return spring fixing seats are installed inside the third body, and the other ends of the two body return springs are fixed on the side wall of the first body , the upper surfaces of the return spring fixing seats of the two parts are connected to the inner wall of the upper end of the third body; the left end of the third body is provided with a wedge-shaped surface, the right end of the third body is provided with a strip-shaped convex structure, and the bottom of the strip-shaped convex structure The surface is provided with a wedge-shaped block, and the lower surface of the wedge-shaped block is a wedge-shaped surface; the first wedge-shaped fixing mechanism is installed on the square fixing seat on the right end of the first body, the second wedge-shaped fixing mechanism is installed on the left end of the first body; the third body is wedge-shaped The drive mechanism is installed in the center of the upper surface of the first body; the wedge-shaped drive mechanism of the third body includes: a wedge body, a fifth return spring and a sixth return spring; the left end of the wedge body is set to a plane, and the right end of the wedge body is set to a wedge shape The upper end of the fifth return spring and the sixth return spring are fixed on the lower end of the wedge body, and the fifth return spring and the sixth return spring are installed inside the center of the upper surface of the first body; In contact with the electromagnet in the clamping mechanism, the wedge-shaped surface of the right end of the wedge-shaped body is in contact with the wedge-shaped surface of the left end of the third body, and the plane of the left end of the wedge-shaped body is in contact with the plane of the inner left end of the upper surface of the first body.
进一步的，所述第一楔形固定机构包括：前端侧面设有弧形凹槽且中心设有通孔的上壳体，所述上壳体前端侧面的弧形凹槽与方形固定座端部侧面的弧形凹槽相配合，安装在上壳体中心通孔中且上表面为楔形面的第一楔形结构，固定在第一楔形结构下端的第一复位弹簧，分别固定在上壳体下端左右两侧的第一固定座和第二固定座，安装在第一固定座内侧壁上的第三复位弹簧，安装在第二固定座内壁上的第二复位弹簧，第二结构件，安装在第二结构件内侧壁上且前表面为楔形面的第二结构件楔形块，安装在第二结构件内孔中且上表面为楔形面的第二楔形结构，固定在第二楔形结构下端且位于第二结构件内孔中的第四复位弹簧，固定在第四复位弹簧下端的复位弹簧固定座，第一结构件，安装在第一结构件内侧壁上且前表面为楔形面的第一结构件楔形块，安装在第一结构件内孔中且上表面为楔形面的第三楔形结构，安装在第三楔形结构下端且位于第一结构件内孔中的复位弹簧，固定在此复位弹簧下端的复位弹簧固定座；Further, the first wedge-shaped fixing mechanism includes: an upper casing with an arc-shaped groove on the side of the front end and a through hole in the center, the arc-shaped groove on the side of the front end of the upper casing and the side of the end of the square fixing seat The first wedge-shaped structure with a wedge-shaped upper surface is installed in the central through hole of the upper casing, and the first return spring fixed on the lower end of the first wedge-shaped structure is fixed on the left and right sides of the lower end of the upper casing, respectively. The first fixed seat and the second fixed seat on both sides, the third return spring installed on the inner wall of the first fixed seat, the second return spring installed on the inner wall of the second fixed seat, and the second structural member, installed on the first fixed seat. The wedge-shaped block of the second structural member on the inner side wall of the two structural members and the front surface is a wedge-shaped surface, and the second wedge-shaped block with a wedge-shaped surface on the inner hole of the second structural member is installed in the inner hole of the second structural member, and is fixed on the lower end of the second wedge-shaped structure. The fourth return spring in the inner hole of the second structural member, the return spring fixing seat fixed on the lower end of the fourth return spring, the first structural member, the first structure installed on the inner side wall of the first structural member and the front surface is a wedge-shaped surface A wedge-shaped block, a third wedge-shaped structure installed in the inner hole of the first structural member and the upper surface of which is a wedge-shaped surface, a return spring installed at the lower end of the third wedge-shaped structure and located in the inner hole of the first structural member, and fixed to this return spring The lower end of the return spring fixed seat;
所述第一固定座、第三复位弹簧、第二结构件、第四复位弹簧和复位弹簧固定座均安装在方形固定座端部的第一安装孔中；所述第二固定座、第二复位弹簧、第一结构件、第三楔形结构下端的复位弹簧和复位弹簧固定座均安装在方形固定座端部的第三安装孔中；所述第二结构件楔形块、第一结构件楔形块、第一楔形结构下端、第一复位弹簧均安装在方形固定座端部的第二安装孔中。The first fixing seat, the third restoring spring, the second structural member, the fourth restoring spring and the restoring spring fixing seat are all installed in the first mounting hole at the end of the square fixing seat; The return spring, the first structure member, the return spring at the lower end of the third wedge-shaped structure, and the return spring fixing seat are all installed in the third mounting hole at the end of the square fixing seat; the wedge-shaped block of the second structure member, the wedge-shaped block of the first structure member The block, the lower end of the first wedge-shaped structure, and the first return spring are all installed in the second installation hole at the end of the square fixed seat.
所述第一楔形结构上表面的楔形面与条形凸起结构中楔形块下表面的楔形面相配合；所述第一楔形结构下端两侧面分别与第二结构件楔形块的楔形面和第一结构件楔形块的楔形面相配合。The wedge-shaped surface of the upper surface of the first wedge-shaped structure is matched with the wedge-shaped surface of the lower surface of the wedge-shaped block in the strip-shaped convex structure; the two sides of the lower end of the first wedge-shaped structure are respectively matched with the wedge-shaped surface of the wedge-shaped block of the second structural member and the first wedge-shaped surface of the wedge-shaped structure. The wedge-shaped surfaces of the wedge-shaped blocks of the structural parts are matched with each other.
进一步的，所述第二楔形固定机构包括：固定块、弧形凹槽、第一楔形卡固块、第一楔形块、第二楔形卡固块和第二楔形块；固定块固定在第一件体左端；弧形凹槽设置在固定块前表面；第一楔形卡固块和第二楔形卡固块均固定在固定块前表面，且第一楔形卡固块和第二楔形卡固块分别位于弧形凹槽两侧；第一楔形卡固块下表面设置有两个第一楔形块，第一楔形块前表面为楔形面；第二楔形卡固块下表面设置有两个第二楔形块，第二楔形块前表面为楔形面；工作时第一钢丝绳固定件机构中的第二楔形固定机构与第三钢丝绳固定件机构中的第一楔形固定机构相配合实现第一钢丝绳固定件机构与第三钢丝绳固定件机构之间的锁死，第一钢丝绳固定件机构中的第一楔形固定机构与第二钢丝绳固定件机构中的第二楔形固定机构相配合实现第一钢丝绳固定件机构与第二钢丝绳固定件机构之间的锁死，第三钢丝绳固定件机构中的第二楔形固定机构与第二钢丝绳固定件机构中的第一楔形固定机构相配合实现第三钢丝绳固定件机构与第二钢丝绳固定件机构之间的锁死。Further, the second wedge-shaped fixing mechanism includes: a fixing block, an arc-shaped groove, a first wedge-shaped clamping block, a first wedge-shaped block, a second wedge-shaped clamping block and a second wedge-shaped block; the fixing block is fixed on the first wedge-shaped fixing block. The left end of the body; the arc-shaped groove is arranged on the front surface of the fixed block; the first wedge-shaped clamping block and the second wedge-shaped clamping block are both fixed on the front surface of the fixing block, and the first wedge-shaped clamping block and the second wedge-shaped clamping block are They are respectively located on both sides of the arc groove; the lower surface of the first wedge-shaped clamping block is provided with two first wedge-shaped blocks, and the front surface of the first wedge-shaped block is a wedge-shaped surface; the lower surface of the second wedge-shaped clamping block is provided with two second wedge-shaped blocks. wedge-shaped block, the front surface of the second wedge-shaped block is a wedge-shaped surface; when working, the second wedge-shaped fixing mechanism in the first wire rope fixing member mechanism cooperates with the first wedge-shaped fixing mechanism in the third wire rope fixing member mechanism to realize the first wire rope fixing member The lock between the mechanism and the third wire rope fixing member mechanism, the first wedge-shaped fixing mechanism in the first wire rope fixing member mechanism cooperates with the second wedge-shaped fixing mechanism in the second wire rope fixing member mechanism to realize the first wire rope fixing member mechanism Locking with the second wire rope fixing member mechanism, the second wedge-shaped fixing mechanism in the third wire rope fixing member mechanism cooperates with the first wedge-shaped fixing mechanism in the second wire rope fixing member mechanism to realize the third wire rope fixing member mechanism and the first wedge-shaped fixing mechanism. The locking between the second wire rope fixing member mechanisms.
本发明的有益效果是：The beneficial effects of the present invention are:
本发明具备钢丝绳自动投放和回收功能，通过三组钢丝绳投放和回收机构能够实现三根钢丝绳的自动定量投放和回收，通过三组固定件投放和回收机构实现三根钢丝绳的固定，实现货物的稳定投放与回收，降低了安全事故发生概率，提高了货物投放和回收的安全性，提高了货物投放和回收的效率和准确度。本发明的一种货物投放和回收设备主要适用于高空和深井中的货物投放和回收。The present invention has the functions of automatic release and recovery of steel wire ropes, and can realize the automatic quantitative release and recovery of three steel wire ropes through three sets of steel wire rope release and recovery mechanisms, and realize the fixation of three steel wire ropes through three sets of fixed parts release and recovery mechanisms, so as to realize the stable delivery and recovery of goods. Recycling reduces the probability of safety accidents, improves the safety of cargo delivery and recycling, and improves the efficiency and accuracy of cargo delivery and recycling. The equipment for putting in and recovering goods of the present invention is mainly suitable for putting in and recovering goods in high altitudes and deep wells.
附图说明Description of drawings
图1为本发明的一种货物投放和回收设备的结构示意图。FIG. 1 is a schematic structural diagram of a device for placing and recycling goods according to the present invention.
图2为第一钢丝绳投放和回收机构的结构示意图。FIG. 2 is a schematic structural diagram of a first wire rope throwing and recycling mechanism.
图3为排绳器的结构示意图。Figure 3 is a schematic diagram of the structure of the rope arrangement.
图4为第一固定件投放和回收机构的结构示意图。FIG. 4 is a schematic structural diagram of the first fixing member throwing and recycling mechanism.
图5为存储机构的结构示意图。FIG. 5 is a schematic structural diagram of a storage mechanism.
图6为装夹机构的结构示意图。FIG. 6 is a schematic structural diagram of a clamping mechanism.
图7为第一钢丝绳固定件机构的结构示意图。FIG. 7 is a schematic structural diagram of the first wire rope fixing member mechanism.
图8为第一楔形固定机构的结构示意图。FIG. 8 is a schematic structural diagram of the first wedge-shaped fixing mechanism.
图9为第二楔形结构、第四复位弹簧、复位弹簧固定座之间的连接关系示意图。FIG. 9 is a schematic diagram of the connection relationship among the second wedge structure, the fourth return spring, and the return spring fixing seat.
图10为第三件体楔形驱动机构的结构示意图。FIG. 10 is a schematic structural diagram of the wedge-shaped driving mechanism of the third body.
图中，1、第一钢丝绳投放和回收机构，2、第二钢丝绳投放和回收机构，3、第三钢丝绳投放和回收机构，4、第一固定件投放和回收机构，5、第二固定件投放和回收机构，6、第三固定件投放和回收机构，7、第一钢丝绳固定件机构，8、第二钢丝绳固定件机构，9、第三钢丝绳固定件机构，10、第一钢丝绳，11、第二钢丝绳，12、第三钢丝绳。In the figure, 1, the first wire rope throwing and recycling mechanism, 2, the second wire rope throwing and recycling mechanism, 3, the third wire rope throwing and recycling mechanism, 4, the first fixing member throwing and recycling mechanism, 5, the second fixing member Drop-in and Recovery Mechanism, 6. Third Fixture Release and Recovery Mechanism, 7. First Wire Rope Fixture Mechanism, 8. Second Wire Rope Fixture Mechanism, 9. Third Wire Rope Fixture Mechanism, 10, First Wire Rope, 11 , the second wire rope, 12, the third wire rope.
具体实施方式Detailed ways
以下结合附图对本发明做进一步详细说明。The present invention will be further described in detail below with reference to the accompanying drawings.
如图1所示，本发明的一种货物投放和回收设备，使用时安装在无人机机舱内，主要包括：第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2、第三钢丝绳投放和回收机构3、第一固定件投放和回收机构4、第二固定件投放和回收机构5、第三固定件投放和回收机构6、第一钢丝绳固定件机构7、第二钢丝绳固定件机构8、第三钢丝绳固定件机构9、第一钢丝绳10、第二钢丝绳11和第三钢丝绳12。第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2、第三钢丝绳投放和回收机构3、第一固定件投放和回收机构4、第二固定件投放和回收机构5、第三固定件投放和回收机构6、第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9均安装在机舱内。As shown in FIG. 1, a cargo delivery and recovery equipment of the present invention is installed in the cabin of the drone when in use, and mainly includes: a first wire rope delivery and recovery mechanism 1, a second wire rope delivery and
第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2、第三钢丝绳投放和回收机构3的结构组成均相同。第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2、第三钢丝绳投放和回收机构3均布置在机舱上端，第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2、第三钢丝绳投放和回收机构3的轴线组成等边三角形。第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2、第三钢丝绳投放和回收机构3上分别安装有一根钢丝绳，即第一钢丝绳10安装在第一钢丝绳投放和回收机构1上，第二钢丝绳11安装在二钢丝绳投放和回收机构2上，第三钢丝绳12安装在第三钢丝绳投放和回收机构3上。第一钢丝绳10、第二钢丝绳11、第三钢丝绳12在进行投放或回收时在水平面上的投影为等边三角形的三个顶点。The first wire rope throwing and recycling mechanism 1 , the second wire rope throwing and
第一固定件投放和回收机构4、第二固定件投放和回收机构5、第三固定件投放和回收机构6的结构组成均相同。第一固定件投放和回收机构4、第二固定件投放和回收机构5、第三固定件投放和回收机构6均布置在机舱下端，第一固定件投放和回收机构4位于第一钢丝绳10和第三钢丝绳12组成的平面外侧，第二固定件投放和回收机构5位于第一钢丝绳10和第二钢丝绳11组成的平面外侧，第三固定件投放和回收机构6位于第二钢丝绳11和第三钢丝绳12组成的平面外侧。The structure and composition of the first fixing piece throwing and recycling mechanism 4 , the second fixing piece throwing and
第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9的结构组成均相同且第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9的数量相同。多个第一钢丝绳固定件机构7均安装在第一固定件投放和回收机构4上，多个第二钢丝绳固定件机构8均安装在第二固定件投放和回收机构5上，多个第三钢丝绳固定件机构9均安装在第三固定件投放和回收机构6上。第一钢丝绳固定件机构7工作时的位置位于第一钢丝绳10和第三钢丝绳12组成的平面中，第二钢丝绳固定件机构8工作时的位置位于第一钢丝绳10和第二钢丝绳11组成的平面中，第三钢丝绳固定件机构9工作时的位置位于第二钢丝绳11和第三钢丝绳12组成的平面中。工作时，第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9的轴线组成等边三角形。The first wire rope fixing
下面以第一钢丝绳投放和回收机构1为例介绍其结构组成。如图2所示，第一钢丝绳投放和回收机构1主要包括：电机101、第一机架102、第一联轴器103、减速器104、第二机架105、排绳器106和卷筒107。第一机架102和第二机架105均固定在机舱上。电机101安装在第一机架102上，卷筒107、减速器104和排绳器106均固定在第二机架105上，卷筒107右端与减速器104左端相连，减速器104右端通过第一联轴器103与电机101相连，第一钢丝绳10缠绕在卷筒107上，第一钢丝绳10端部通过排绳器106导出。如图3所示，排绳器106主要由排绳轮1061、钢丝绳锁轴1062和固定支架1063组成，固定支架1063上端通过螺栓与第二机架105相连，排绳轮1061和钢丝绳锁轴1062均安装在固定支架1063下端，且钢丝绳锁轴1062靠近排绳轮1061布置，第一钢丝绳10通过排绳轮1061与其旁边的钢丝绳锁轴1062中心孔穿过。通过控制电机101的正反转来控制第一钢丝绳10的投放和收回，具体为：启动电机101驱动减速器104带动卷筒107转动从而控制第一钢丝绳10的投放和收回。The structure and composition of the first wire rope throwing and recycling mechanism 1 is described below as an example. As shown in FIG. 2, the first wire rope throwing and recycling mechanism 1 mainly includes: a
下面以第一固定件投放和回收机构4为例介绍其结构组成。如图4所示，第一固定件投放和回收机构4主要包括：第三机架401、伺服电机402、第一涡轮丝杆机构403、第二涡轮丝杆机构404、传动轴405、存储机构406、电推杆407、电推杆固定座408、装夹机构409、第二联轴器410和第三联轴器411。第三机架401安装在机舱上，第三机架401主要包括：四个支角4011、下支撑座4012、四个支杆4013和上支撑座4014，四个支角4011下端固定在机舱上，下支撑座4012固定在四个支角4011上，四个支杆4013分别固定在下支撑座4012上表面四个角处，上支撑座4014固定在四个支杆4013上端。伺服电机402固定在下支撑座4012右端，第二涡轮丝杆机构404和第一涡轮丝杆机构403分别安装在下支撑座4012左右两端，伺服电机402输出端与第一涡轮丝杆机构403相连，第一涡轮丝杆机构403与传动轴405一端通过第二联轴器410相连，传动轴405另一端通过第三联轴器411与第二涡轮丝杆机构404相连，第一涡轮丝杆机构403与第二涡轮丝杆机构404通过第二联轴器410、传动轴405、第三联轴器411的共同作用实现同步运动。存储机构406与第一涡轮丝杆机构403和第二涡轮丝杆机构404相连，如图5所示，存储机构406主要包括：平板4061和U形板4062，平板4061竖向安装在U形板4062内侧，U形板4062下端左右两侧分别与第二涡轮丝杆机构404中的第二丝杆4041上端和第一涡轮丝杆机构403中的第一丝杆4031上端相连，多个第一钢丝绳固定件机构7由下至上依次放置在存储机构406的U形板4062中。电推杆固定座408下端固定在下支撑座4012上，电推杆407安装在电推杆固定座408上，装夹机构409安装在电推杆407端部。如图6所示，装夹机构409主要包括：U形块4091和电磁铁4092，电磁铁4092安装在U形块4091内部上端，U形块4091后端与电推杆407端部相连。Hereinafter, the structure and composition of the first fixing member throwing and recycling mechanism 4 will be described as an example. As shown in FIG. 4 , the first fixing member throwing and recycling mechanism 4 mainly includes: a
如图7和图8所示，第一钢丝绳固定件机构7主要包括：第一件体701、第二件体702、第三件体703、第一楔形固定机构704、第二楔形固定机构705、第三件体楔形驱动机构706、件体复位弹簧707和件体复位弹簧固定座708。第一件体701上表面中心内部左端设置成平面，第一件体701右端设置有方形固定座7011，方形固定座7011端部侧面设置有弧形凹槽70111，方形固定座7011端部设置有第一安装孔70112、第二安装孔70113和第三安装孔70114。第二件体702安装在第一件体701右端且位于方形固定座7011下端，第三件体703安装在第一件体701右端，且第三件体703扣合在第二件体702上并通过螺栓相连；件体复位弹簧707的数量为两个，件体复位弹簧固定座708的数量为两个，两个件体复位弹簧707一端分别一一对应固定在两个件体复位弹簧固定座708上，两个件体复位弹簧707和两个件体复位弹簧固定座708均安装在第三件体703内部，两个件体复位弹簧707另一端均固定在第一件体701侧壁上，两个件体复位弹簧固定座708上表面均于第三件体703上端内壁相连。第三件体703左端设置成楔形面，第三件体703右端设置有条形凸起结构7031，条形凸起结构7031下表面设置有楔形块70311，楔形块70311下表面为楔形面。第一楔形固定机构704安装在第一件体701右端的方形固定座7011上，第二楔形固定机构705安装在第一件体701左端；第三件体楔形驱动机构706安装在第一件体701上表面中心内部。如图10所示，第三件体楔形驱动机构706主要包括：楔形件体7061、第五复位弹簧7062和第六复位弹簧7063；楔形件体7061左端设置成平面，楔形件体7061右端设置成楔形面，第五复位弹簧7062和第六复位弹簧7063上端均固定在楔形件体7061下端，第五复位弹簧7062和第六复位弹簧7063均安装在第一件体701上表面中心内部；工作时楔形件体7061上端面与装夹机构409中的电磁铁4092相接触，楔形件体7061右端的楔形面与第三件体703左端的楔形面相接触，楔形件体7061左端的平面与第一件体701上表面中心内部左端的平面相接触。As shown in FIGS. 7 and 8 , the first wire
如图7和图8所示，第一楔形固定机构704主要包括：上壳体709、第二楔形结构710、第一楔形结构711、第一复位弹簧712、第三楔形结构713、第一结构件714、第二复位弹簧715、第二固定座716、第二结构件717、第三复位弹簧718、第一固定座719、第一结构件楔形块720、第二结构件楔形块721、第四复位弹簧722和复位弹簧固定座723。第一固定座719和第二固定座716分别固定在上壳体709下端左右两侧，第三复位弹簧718安装在第一固定座719内侧壁上，第二复位弹簧715安装在第二固定座716内壁上；第二结构件楔形块721后端安装在第二结构件717内侧壁上，第二楔形结构710安装在第二结构件717内孔中；第一结构件楔形块720后端安装在第一结构件714内侧壁上，第三楔形结构713安装在第一结构件714内孔中；如图9所示，第四复位弹簧722固定在第二楔形结构710下端，复位弹簧固定座723固定在第四复位弹簧722下端，第四复位弹簧722位于第二结构件717内孔中，同理，第三楔形结构713下端也安装有复位弹簧和复位弹簧固定座，该复位弹簧位于第一结构件714内孔中。第一固定座719、第三复位弹簧718、第二结构件717、第四复位弹簧722和复位弹簧固定座723均安装在方形固定座7011端部的第一安装孔70112中；第二固定座716、第二复位弹簧715、第一结构件714、第三楔形结构713下端的复位弹簧和复位弹簧固定座均安装在方形固定座7011端部的第三安装孔70114中；上壳体709前端侧面设置有弧形凹槽7091，上壳体709中心设置有通孔，第一楔形结构711安装在上壳体709中心的通孔中，第一复位弹簧712上端固定在第一楔形结构711下端，第二结构件楔形块721、第一结构件楔形块720、第一楔形结构711下端及第一复位弹簧712均安装在方形固定座7011端部的第二安装孔70113中。第一楔形固定机构704安装完毕后，上壳体709前端侧面的弧形凹槽7091与方形固定座7011端部侧面的弧形凹槽70111相配合；第二楔形结构710上表面、第一楔形结构711上表面、第三楔形结构713上表面均设置成楔形面，第二结构件楔形块721和第一结构件楔形块720前表面均设置成楔形面；第一楔形结构711上表面的楔形面与条形凸起结构7031中楔形块70311下表面的楔形面相配合；第一楔形结构711下端两侧面分别与第二结构件楔形块721的楔形面和第一结构件楔形块720的楔形面相配合。As shown in FIGS. 7 and 8 , the first wedge-shaped
第二楔形结构710受到挤压后可向下运动，挤压力消失后，第二楔形结构710通过第四复位弹簧722实现复位；同理，第三楔形结构713受到挤压后可向下运动，挤压力消失后，第三楔形结构713通过第三楔形结构713下端的复位弹簧实现复位；第一楔形结构711受到挤压后可向下运动，通过第一楔形结构711下端两侧面分别挤压第二结构件楔形块721的楔形面和第一结构件楔形块720的楔形面使第二结构件楔形块721和第一结构件楔形块720分别向左侧和右侧运动，挤压力消失后，第一楔形结构711通过第一复位弹簧712实现复位，第二结构件楔形块721通过第三复位弹簧718实现复位，第一结构件楔形块720通过第二复位弹簧715实现复位。The second wedge-shaped
如图7所示，第二楔形固定机构705主要包括：固定块7051、弧形凹槽7052、第一楔形卡固块7053、第一楔形块7054、第二楔形卡固块7055和第二楔形块7056。固定块7051固定在第一件体701左端。弧形凹槽7052设置在固定块7051前表面。第一楔形卡固块7053和第二楔形卡固块7055均固定在固定块7051前表面，且第一楔形卡固块7053和第二楔形卡固块7055分别位于弧形凹槽7052两侧；第一楔形卡固块7053下表面设置有两个第一楔形块7054，第一楔形块7054前表面为楔形面；第二楔形卡固块7055下表面设置有两个第二楔形块7056，第二楔形块7056前表面为楔形面。As shown in FIG. 7 , the second wedge-shaped
工作时，第一钢丝绳固定件机构7中的第二楔形固定机构705与第三钢丝绳固定件机构9中的第一楔形固定机构704相配合实现第一钢丝绳固定件机构7与第三钢丝绳固定件机构9之间的锁死，第一钢丝绳固定件机构7中的第一楔形固定机构704与第二钢丝绳固定件机构8中的第二楔形固定机构705相配合实现第一钢丝绳固定件机构7与第二钢丝绳固定件机构8之间的锁死，第三钢丝绳固定件机构9中的第二楔形固定机构705与第二钢丝绳固定件机构8中的第一楔形固定机构704相配合实现第三钢丝绳固定件机构9与第二钢丝绳固定件机构8之间的锁死。During operation, the second wedge-shaped
本发明的一种货物投放和回收设备，工作原理如下：A kind of goods dropping and recycling equipment of the present invention, the working principle is as follows:
启动设备前，将货物与第一钢丝绳10、第二钢丝绳11和第三钢丝绳12下端连接，然后启动第一钢丝绳投放和回收机构1、第二钢丝绳投放和回收机构2和第三钢丝绳投放和回收机构3开始投放工作，启动电机101，经减速器104驱动卷筒107运动，缠绕在卷筒107上的第一钢丝绳10、第二钢丝绳11和第三钢丝绳12通过排绳器106伸出，当钢丝绳运动一定距离后电机101停止；此时第一固定件投放和回收机构4、第二固定件投放和回收机构5和第三固定件投放和回收机构6开始工作，伺服电机402启动，驱动第一涡轮丝杆机构403中的第一丝杆4031、第二涡轮丝杆机构404中的第二丝杆4041带动存储机构406向上运动，运动距离为一个第一钢丝绳固定件机构7高度后伺服电机402停止(同理，第二固定件投放和回收机构5中，运动距离为一个第二钢丝绳固定件机构8高度后伺服电机402停止；在第三固定件投放和回收机构6中，运动距离为一个第三钢丝绳固定件机构9高度后伺服电机402停止)；此时装夹机构409中的电磁铁启动，电磁铁吸附第一钢丝绳固定件机构7(同理，在第二固定件投放和回收机构5中电磁铁吸附第二钢丝绳固定件机构8，在第三固定件投放和回收机构6中电磁铁吸附第三钢丝绳固定件机构9)，装夹机构409连同第一钢丝绳固定件机构7在电推杆407的作用下往前运动(同理，第二钢丝绳固定件机构8和第三钢丝绳固定件机构9在电推杆407的作用下均往前运动)；当第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9均分别靠近三根钢丝绳时，第一钢丝绳固定件机构7中的第二楔形固定机构705与第三钢丝绳固定件机构9中的第一楔形固定机构相配合实现第一钢丝绳固定件机构7与第三钢丝绳固定件机构9之间的锁死，第一钢丝绳固定件机构7中的第一楔形固定机构704与第二钢丝绳固定件机构8中的第二楔形固定机构相配合实现第一钢丝绳固定件机构7与第二钢丝绳固定件机构8之间的锁死，第三钢丝绳固定件机构9中的第二楔形固定机构与第二钢丝绳固定件机构8中的第一楔形固定机构相配合实现第三钢丝绳固定件机构9与第二钢丝绳固定件机构8之间的锁死。Before starting the equipment, connect the goods to the lower ends of the
以第一钢丝绳固定件机构7与第三钢丝绳固定件机构9之间的锁死操作为例进行介绍，具体配合锁死过程为：第一钢丝绳固定件机构7中的第二楔形固定机构705中的第一楔形卡固块7053插入第三钢丝绳固定件机构9中的第一楔形固定机构704中的第二楔形结构710上端，通过第一楔形卡固块7053上的第一楔形块7054挤压第二楔形结构710楔形面、通过第二楔形卡固块7055上的第二楔形块7056挤压第三楔形结构713楔形面使第二楔形结构710和第三楔形结构713向下运动，待第一楔形块7054和第二楔形块7056完全通过后，第二楔形结构710和第三楔形结构713分别在复位弹簧作用下复位，此时，第一钢丝绳固定件机构7与第三钢丝绳固定件机构9之间被锁死，第三钢丝绳12被卡在由第一钢丝绳固定件机构7中的第二楔形固定机构705中的弧形凹槽7052与第三钢丝绳固定件机构9中的第一楔形固定机构704中的弧形凹槽7091和弧形凹槽70111组成的通孔中；同理，第一钢丝绳固定件机构7与第二钢丝绳固定件机构8之间的锁死操作以及第三钢丝绳固定件机构9与第二钢丝绳固定件机构8之间的锁死操作同上；通过第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9之间的两两配合使得第一钢丝绳固定件机构7、第二钢丝绳固定件机构8和第三钢丝绳固定件机构9分别被第一钢丝绳10、第二钢丝绳11、第三钢丝绳12卡住；此时关闭装夹机构409中的电磁铁，取消吸附，电推杆407反向运动，收回装夹机构409；再次启动电机101，三根钢丝绳均继续往下运动，重复以上操作直至钢丝绳末端到达指定位置。Taking the locking operation between the first wire rope fixing
当需要回收钢丝绳时，启动电推杆407将装夹机构409运动到第一钢丝绳固定件机构7上方，电机101反转，经减速器104驱动卷筒107运动，缠绕在卷筒107上的钢丝绳通过排绳器106收回，当运动距离为两个第一钢丝绳固定件机构7高度后，电机101停止，打开装夹机构409上的电磁铁；此时第三件体楔形驱动机构706被装夹机构409挤压向右运动，第三件体703受到第三件体楔形驱动机构706挤压向右运动，第三件体703右端的条形凸起结构7031下表面的楔形块70311挤压第一楔形结构711向下运动，通过第一楔形结构711下端两侧面分别挤压第二结构件楔形块721的楔形面和第一结构件楔形块720的楔形面使第二结构件楔形块721和第一结构件楔形块720分别向左侧和右侧运动，从而使第二楔形卡固块7055与第三楔形结构713脱离配合、使第一楔形卡固块7053与第二楔形结构710脱离配合；此时启动电推杆407往回运动，将第一钢丝绳固定件机构7收回并运动到存储机构406处，装夹机构409中的电磁铁失电，伺服电机402启动，驱动第一涡轮丝杆机构403中的第一丝杆4031、第二涡轮丝杆机构404中的第二丝杆4041带动存储机构406向下运动，运动距离为一个第一钢丝绳固定件机构7高度后伺服电机402停止，重复以上操作直至钢丝绳完全收回。When the wire rope needs to be recovered, the
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为便于描述本发明和简化描述，而不是指示或暗指所指的装置或元件必须具有特定的方位、为特定的方位构造和操作，因而不能理解为对本发明保护内容的限制。In the description of the present invention, it should be understood that the terms "center", "portrait", "horizontal", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or obscuring It means that the referred device or element must have a specific orientation, be constructed and operate for a specific orientation, and therefore cannot be understood as a limitation on the protection content of the present invention.
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换，但这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some technical features thereof are equivalently replaced, but these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
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