Delivery devices and drones

Abstract

The present invention discloses a delivery device and an unmanned aerial vehicle. The delivery device is used to deliver objects to be delivered, and the objects to be delivered can be connected to a suspension rope, and includes: a frame; a first fixing module, the first fixing module is connected to the frame, and the first fixing module is used to fix the objects to be delivered; a second fixing module, the second fixing module is connected to the frame, and the second fixing module is used to fix the suspension rope; a driving module, the driving module is connected to the frame, and the driving module is used to intermittently drive the first fixing module and the second fixing module to move to unlock in sequence. The unmanned aerial vehicle includes the above-mentioned delivery device. When the delivery device of the invention is used to deliver objects to be delivered, the impact of the objects to be delivered on the ground when they fall can be reduced, thereby reducing the probability of damage.

Description

Technical Field

[0001] The present invention relates to the field of unmanned aerial vehicles, and in particular to a delivery device and an unmanned aerial vehicle. Background Art

[0002] With the continuous development of drone technology, drones are being used more and more widely in various fields. For example, drones are used to deliver items in areas that are difficult for people to reach. In related technologies, the items to be delivered are usually loaded on drones, which are then transported to the top of the delivery area by drones. The items are then released from fixation, and fall into the delivery area under the action of gravity. However, the above method has certain limitations. For some items that are not resistant to falling, the violent impact with the ground when they land can easily damage the items to be delivered. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention provides a delivery device, which can reduce the impact of the object to be delivered with the ground when it falls, and reduce the probability of damage to the object to be delivered.

[0004] The present invention also provides an unmanned aerial vehicle, which can reduce the impact of the objects to be delivered with the ground when they fall, thereby reducing the probability of damage to the objects to be delivered.

[0005] The present invention also proposes a delivery method, when using the method to deliver the object to be delivered, the impact of the object to be delivered on the ground when it falls can be reduced, and the probability of damage to the object to be delivered can be reduced.

[0006] In a first aspect, an embodiment of the present invention provides a delivery device for delivering an object to be delivered, wherein the object to be delivered can be connected to a hanging rope, comprising:

[0007] frame;

[0008] A first fixing module, the first fixing module is connected to the frame, and the first fixing module is used to fix the object to be delivered;

[0009] A second fixing module, the second fixing module is connected to the frame, and the second fixing module is used to fix the suspension rope;

[0010] A driving module is connected to the frame, and is used to intermittently drive the first fixing module and the second fixing module to move to unlock.

[0011] The delivery device of the embodiment of the present invention has at least the following beneficial effects: the driving module can sequentially drive the first fixing module and the second fixing module to move and unlock, when the first fixing module is unlocked, the object to be delivered is hung on the delivery device through the hanging rope, when the second fixing module is also unlocked, the object to be delivered and the hanging rope will fall into the delivery area together. The object to be delivered is suspended by the hanging rope to stay during the falling process, and will not fall directly to the ground, so that the height of the object to be delivered when it lands is reduced, even close to zero, thereby reducing the impact of the object to be delivered with the ground and reducing the probability of damage.

[0012] According to some other embodiments of the delivery device of the present invention, the first fixing module includes a supporting member, a first elastic member, a rotating member and a second elastic member, the supporting member is used to support the object to be delivered, the supporting member and the rotating member are both rotatably connected to the frame, the rotating member includes a first rotating arm, the two ends of the second elastic member are respectively connected to the frame and the first rotating arm, the second elastic member is used to drive the first rotating arm to abut against the supporting member to prevent the supporting member from opening, the driving module is used to drive the first rotating arm to rotate and separate from the supporting member, and the first elastic member is used to drive the supporting member to rotate to open.

[0013] According to some other embodiments of the delivery device of the present invention, the rotating member further includes a second rotating arm, the connection between the second rotating arm and the first rotating arm is rotatably connected to the frame, and the distance between the rotation center of the rotating member and the end of the second rotating arm is smaller than the distance between the rotation center of the rotating member and the end of the first rotating arm.

[0014] According to some other embodiments of the dispensing device of the present invention, the driving module includes a driving member, a first turntable and at least two unlocking members, the first turntable is provided with a supporting member, the driving member is used to drive the first turntable to rotate, when the first turntable rotates, the supporting member can sequentially support and push out the two unlocking members, the two unlocking members are respectively used to drive the first fixed module and the second fixed module to move to unlock.

[0015] According to some other embodiments of the dispensing device of the present invention, the driving module also includes a first paddle and a second turntable, the second turntable is connected to the first turntable, the second turntable is provided with a first surface and a second surface, the first surface and the second surface define a boss, at least two of the bosses are distributed along the circumferential direction, the driving member is connected to the first paddle, in the pushing state, the first paddle can be abutted against the first surface so that the second turntable and the first paddle rotate synchronously along the first direction, and in the retracting state, the first paddle can rotate relative to the second turntable in the second direction until it reaches the second surface of the adjacent boss.

[0016] According to some other embodiments of the dispensing device of the present invention, along the second direction, the height of the end of the boss is greater than the height of the start end of the adjacent boss, and the first paddle is elastic. In the retracted state, the first paddle elastically abuts against the second surface.

[0017] According to some other embodiments of the present invention, the dispensing device further includes a limiting member, which is used to limit the rotation of the second rotating disk when the first paddle rotates along the second direction.

[0018] According to some other embodiments of the dispensing device of the present invention, the driving module also includes a third elastic member, both ends of which are fixedly connected to the frame and the unlocking member respectively, and the elastic member is used to drive the unlocking member to reset after the supporting member is separated from the unlocking member.

[0019] In a second aspect, an embodiment of the present invention provides a drone, comprising the above-mentioned delivery device.

[0020] The drone of the embodiment of the present invention has at least the following beneficial effects: in the propulsion device of the drone, the driving module can sequentially drive the first fixing module and the second fixing module to move to unlock, when the first fixing module is unlocked, the object to be delivered is suspended on the drone through the suspension rope, when the second fixing module is also unlocked, the object to be delivered and the suspension rope will fall together in the delivery area. The object to be delivered is suspended by the suspension rope to stay during the falling process, and will not fall directly to the ground, so that the height of the object to be delivered when it lands is reduced, even close to zero, thereby reducing the impact of the object to be delivered with the ground and reducing the probability of damage.

[0021] In a third aspect, an embodiment of the present invention provides a delivery method for delivering an object to be delivered by a drone, wherein the object to be delivered and a suspension rope connected to the object to be delivered are respectively fixed to the drone, and after the drone flies to a predetermined position, the fixation of the object to be delivered and the suspension rope are released in turn.

[0022] The delivery method of the embodiment of the present invention has at least the following beneficial effects: when delivering, the object to be delivered and the suspension rope are first fixed to the drone respectively, and after flying to the predetermined position, the fixation of the object to be delivered is first released, and the object to be delivered is suspended on the drone through the suspension rope, and then the fixation of the suspension rope is released, and the object to be delivered can fall into the delivery area together with the suspension rope. Since the object to be delivered is suspended by the suspension rope to stay during the falling process, it will not fall directly to the ground, so that the height of the object to be delivered when it lands is reduced, even close to zero, thereby reducing the impact of the object to be delivered with the ground and reducing the probability of damage. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 11 is a schematic diagram of the structure of the delivery device in the first embodiment (some components are omitted);

[0024] Figure 2 yes Figure 1 A partial structural diagram of the first fixing module;

[0025] Figure 3 yes Figure 1 A partial structural diagram of the first fixing module;

[0026] Figure 4 yes Figure 1 A schematic diagram of the structure of the middle supporting member, the first elastic member and other components;

[0027] Figure 5 yes Figure 1 Partial structural exploded diagram of the first fixed module;

[0028] Figure 6 yes Figure 1 A partial structural diagram of the second fixing module;

[0029] Figure 7 is a schematic diagram of the structure of the driving module in the first embodiment (some components are omitted);

[0030] Figure 8 yes Figure 7 An exploded view of part of the structure of the drive module;

[0031] Fig. 9 yes Figure 7 A schematic diagram of the structure of the first rotating disk, the abutting member and the unlocking member;

[0032] Fig.10 yes Figure 7 A schematic diagram of the structure of the second turntable;

[0033] Fig.11 yes Figure 7 A schematic diagram of the structure of the first rotating disk, the second rotating disk and the third rotating disk;

[0034] Fig.12 yes Figure 7 A schematic diagram of the structure of the middle frame and unlocking parts;

[0035] Fig.13 yes Figure 1 Exploded view of the middle frame and unlocking parts;

[0036] Fig.14 Schematic diagram of a partial structure of a drone in another embodiment.

[0037] Reference numerals:

[0038] The frame body 110, the fixing part 111, the slider 112, the support 120, the connecting part 121, and the extending arm 1211;

[0039] Driving module 200, driving member 210, driving arm 211, first rotating disk 220, abutting member 221, abutting surface 2211, unlocking member 230, roller 231, slide groove 232, second rotating disk 240, boss 241, first surface 2411, second surface 2412, first paddle 251, second paddle 252, third rotating disk 260, third elastic member 270;

[0040] The first fixing module 300, the supporting member 310, the contact surface 311, the protrusion 312, the hollow area 313, the first elastic member 320, the rotating member 330, the first rotating arm 331, the second rotating arm 332, the second elastic member 340, the limiting frame 350, the first limiting portion 351, and the second limiting portion 352;

[0041] A second fixing module 400 and a groove 410;

[0042] Suspension rope 500, suspension ring 510, rope winding roller 520, damper 530;

[0043] Objects to be delivered: 600;

[0044] Mounting unit 700. DETAILED DESCRIPTION

[0045] The following will be combined with the embodiments to clearly and completely describe the concept of the present invention and the technical effects produced, so as to fully understand the purpose, characteristics and effects of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative work are all within the scope of protection of the present invention.

[0046] In the description of the embodiments of the present invention, if orientation descriptions are involved, the orientations or positional relationships indicated by “up”, “down”, “front”, “back”, “left”, “right”, etc. are based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0047] In the description of the embodiments of the present invention, if a feature is referred to as being "set", "fixed", "connected", or "installed" on another feature, it may be directly set, fixed, or connected to the other feature, or it may be indirectly set, fixed, connected, or installed on the other feature. In the description of the embodiments of the present invention, if "several" is involved, it means more than one, if "multiple" is involved, it means more than two, if "greater than", "less than", or "exceeds" is involved, it should be understood as not including the number itself, and if "above", "below", or "within" is involved, it should be understood as including the number itself. If "first" or "second" is involved, it should be understood as being used to distinguish technical features, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0048] Reference Figure 1 The delivery device includes components such as a driving module 200, a first fixing module 300, a second fixing module 400, and a hanging rope 500. The hanging rope 500 is wound on a rope winding roller 520, and the rope winding roller 520 is fixed on an object to be delivered 600. The object to be delivered 600 is fixed on the first fixing module 300. The hanging rope 500 is fixed on the second fixing module 400, for example, a hanging ring 510 is provided at the end of the hanging rope 500, and the hanging ring 510 is fixed on the second fixing module 400. The driving module 200 can intermittently drive the first fixing module 300 and the second fixing module 400 to move in sequence to be in a first state, a second state, and a third state. Specifically, in the first state, the first fixing module 300 locks the object to be delivered 600, and the second fixing module 400 locks the hanging ring 510; in the second state, the first fixing module 300 has performed corresponding movements driven by the driving module 200 and released the fixation of the object to be delivered 600, and the object to be delivered 600 falls under the action of gravity, and the suspension rope 500 wound on the rope winding roller 520 is released, and the object to be delivered 600 is suspended in the air by the suspension rope 500; in the third state, the second fixing module 400 also performs corresponding movements driven by the driving module 200 and releases the fixation of the hanging ring 510, and the object to be delivered 600 and the hanging ring 510 fall into the delivery area under the action of gravity to complete the delivery.

[0049] Compared with the conventional method of directly pushing out the object 600 to be delivered and making it fall freely to the delivery area, when using the delivery device, the driving module 200 can sequentially and intermittently drive the first fixing module 300 and the second fixing module 400 to unlock. The object 600 to be delivered is suspended in the air by the suspension rope 500, and stays during the falling process, and does not fall directly to the ground, so that the height of the object 600 to be delivered when it finally falls freely is reduced. If the length of the suspension rope 500 is appropriate, the height of the object 600 to be delivered when it falls freely can even be close to zero, thereby reducing the impact of the object 600 to be delivered with the ground and reducing the probability of damage.

[0050] In addition, the total length of the hanging rope 500 needs to be set in advance so that its length is not greater than the height of the delivery device when the first fixing module 300 releases the fixation of the object to be delivered 600. The closer the total length of the hanging rope 500 is to the height of the delivery device at this time, the smaller the impact force of the object to be delivered 600 on the ground when it finally falls to the ground.

[0051] In some embodiments, a damper 530 may be provided, and the damper 530 is connected to the rope winding roller 520. The damper 530 increases the resistance of the rope winding roller 520 when it rotates to release the suspension rope 500, so that after the first fixing module 300 releases the fixation of the object to be delivered 600, the suspension rope 500 can be slowly released, and the object to be delivered 600 can be slowly lowered, thereby improving the stability of the object to be delivered 600 when being delivered.

[0052] Reference Figures 2 to 4 , the first fixed module 300 includes a supporting member 310, a support 120, a first elastic member 320, a rotating member 330, a connecting portion 121 and a second elastic member 340. The first elastic member 320 can be a torsion spring or other components. The supporting member 310 is rotatably connected to the support 120. The first elastic member 320 is connected to both the supporting member 310 and the support 120. Driven by the rebound force of the first elastic member 320, the supporting member 310 tends to rotate downward and open. The support 120 is a part of the frame. The support 120 also includes a connecting portion 121. The rotating member 330 is rotatably connected to the connecting portion 121. The rotating member 330 includes a first rotating arm 331. The two ends of the second elastic member 340 are fixedly connected to the first rotating arm 331 and the connecting portion 121, respectively. The second elastic member 340 is in a stretched state. Driven by its rebound force, the first rotating arm 331 tends to rotate clockwise. The object 600 to be delivered is placed on the supporting member 310, which has a contact surface 311. Driven by the rebound force of the second elastic member 340, the end of the first rotating arm 331 can abut against the contact surface 311 to prevent the supporting member 310 from rotating downward and opening, thereby achieving the support and fixation of the object 600 to be delivered.

[0053] When it is necessary to release the support and fixation of the object to be delivered 600, it is only necessary to drive the first rotating arm 331 to rotate counterclockwise through the driving module 200. When it is separated from the contact surface 311, the obstacle to the rotation of the supporting member 310 can be released. At the same time, driven by the rebound force of the first elastic member 320, the supporting member 310 will rotate downward to release the object to be delivered 600.

[0054] Reference Figure 3 and Figure 5 In some embodiments, the rotating member 330 further includes a second rotating arm 332, the first rotating arm 331 and the second rotating arm 332 are integrally connected, and the rotating member 330 is rotatably connected to the connecting portion 121 through the connection between the first rotating arm 331 and the second rotating arm 332. By pushing the second rotating arm 332 and rotating the rotating member 330 counterclockwise, the first rotating arm 331 can be separated from the contact surface 311, and the supporting member 310 can be rotated downward and opened. In addition, the distance between the rotation center of the rotating member 330 and the end of the second rotating arm 332 is smaller than the distance between the rotation center of the rotating member 330 and the end of the first rotating arm 331. In this way, the force required to push the second rotating arm 332 is greater, which can reduce the possibility of releasing the object 600 to be delivered due to the mistaken push of the second rotating arm 332.

[0055] Reference Figures 3 to 5 In some embodiments, a protrusion 312 is provided on the supporting member 310 to limit the first rotating arm 331. When the first rotating arm 331 rotates to abut against the contact surface 311, the side wall of the first rotating arm 331 will be blocked by the side wall of the protrusion 312, so that the first rotating arm 331 remains in the current position and is not easy to slide on the contact surface 311, and the entire fixed state is more stable.

[0056] In some embodiments, the contact surface 311 is configured as an arc surface, and the curvature of the arc surface is the same as the curvature of the rotation track of the end of the first rotating arm 331. In this way, when the first rotating arm 331 rotates counterclockwise to release the fixation of the object to be delivered 600, before the first rotating arm 331 separates from the contact surface 311, its end will always be in contact with the contact surface 311, so that the rotation of the first rotating arm 331 is smoother.

[0057] In some embodiments, an extension arm 1211 is provided on the connecting portion 121, and the extension arm 1211 is set to a shape and size that matches the object 600 to be delivered. After the object 600 to be delivered is loaded, the extension arm 1211 will fit with the object 600 to be delivered, and the support and fixation of the object 600 to be delivered will be more stable.

[0058] Similarly, in some embodiments, the supporting member 310 and the extending arm 1211 are both configured to have a shape and size that matches the object 600 to be delivered. After the object 600 to be delivered is loaded, the supporting member 310 and the extending arm 1211 are respectively fitted with different areas of the object 600 to be delivered, so that the supporting and fixing of the object 600 to be delivered is more stable.

[0059] Reference Figures 1 to 3 In some embodiments, the object 600 to be placed is cylindrical, and the supporting member 310 is arc-shaped and is a minor arc, and its end extends to the range where the center of gravity of the object 600 to be placed can fall into the range of the supporting member 310. If it is set as a major arc, although the support is more stable, when the object 600 to be placed is released, the supporting member 310 needs to rotate downward at a larger angle to not hinder the object 600 to be placed from detaching. If it is set as a minor arc, the supporting member 310 only needs to rotate downward at a smaller angle to make the object 600 to be placed detach. However, the curvature of the minor arc cannot be too small, otherwise, the object to be placed cannot be stably supported. By making the center of gravity of the object 600 to be placed within the range of the supporting member 310, the stability during support can be maximized. In summary, in this embodiment, the angle at which the supporting member 310 needs to rotate downward when releasing the fixation can be minimized under the premise of more stable support of the object 600 to be placed. In addition, the arc shape mentioned above is a general term. If the object 600 to be placed is not cylindrical, the supporting member 310 can also be arranged according to the above principle.

[0060] In some embodiments, a limit frame 350 is further included, and the limit frame 350 is fixedly connected to the connecting portion 121. The limit frame 350 includes a first limit portion 351 and a second limit portion 352, and the first limit portion 351 and the second limit portion 352 are respectively located on the left and right sides of the supporting member 310 (the left and right directions here refer to Figure 2 When loading the object 600, it is placed on the supporting member 310, and the first limiting portion 351 and the second limiting portion 352 limit the object 600 along its axial direction from the left and right sides respectively, so that it is not easy to be displaced along the axial direction after loading.

[0061] In some embodiments, the supporting member 310 includes a bottom bracket and two side plates, the two side plates are respectively connected to the two sides of the bottom bracket, and the bottom bracket and the two side plates define a storage space, and the object to be placed 600 can be placed in the storage space. The two side plates are equivalent to the deformation of the limit frame 350 in the previous embodiment, and can limit the object to be placed 600 along its axial direction, so that it is not easy to shift its position along the axial direction after loading, and the side plates can also improve the stability of the support of the object to be placed 600.

[0062] Reference Figure 4 and Figure 5In some embodiments, a hollow area 313 is provided on the support member 310 to reduce weight. Similarly, a hollow area may also be provided on the extension arm 1211.

[0063] Reference Figure 6 The structure of the second fixing module 400 is similar to that of the first fixing module 300, but different from the first fixing module 300 in that a groove 410 is further provided on the supporting member 310, and the extended arm 1211 presses the lifting ring 510 into the groove 410 for fixing. The other connection structures are the same as those of the first fixing module 300, and only the shapes are different, so they are not described again.

[0064] Reference Figures 7 to 9 In some embodiments, the driving module 200 includes components such as a frame body 110, a driving member 210, a first rotating disk 220 and an unlocking member 230. The first rotating disk 220 is provided with a resisting member 221, and there are at least two unlocking members 230, and the unlocking member 230 is connected to the frame body 110. The first rotating disk 220 can rotate under the drive of the driving member 210. When the first rotating disk 220 rotates, the resisting member 221 provided thereon will reach each unlocking member 230 and resist the unlocking member 230, so as to push out the unlocking member 230, and each unlocking member 230 drives the first fixing module 300 and the second fixing module 400 to move and unlock. In this embodiment, only one driving member 210 is required. The driving member 210 drives the resisting member 221 to rotate through the first rotating disk 220, so as to resist and push out the unlocking members 230 at different positions in turn. Only one driving member 210 is provided, so that the structure of the entire driving module 200 is simpler and the cost is lower.

[0065] Reference Figure 8 , Fig.10 and Fig.11In some embodiments, the driving module 200 further includes a second rotating disk 240 and a first paddle 251. The second rotating disk 240 is provided with a first surface 2411 and a second surface 2412, the first surface 2411 and the second surface 2412 define a boss 241, the first surface 2411 is a side wall of the boss 241, the second rotating disk 240 is formed with a plurality of bosses 241 distributed along the circumferential direction, and adjacent bosses 241 are connected end to end. The driving member 210 is connected to the first paddle 251 and can drive the first paddle 251 to rotate. Specifically, the driving member 210 uses a steering gear, the driving arm 211 is a steering gear arm, and the steering gear arm is fixedly connected to the first paddle 251. When the driving member 210 drives the first paddle 251 to rotate in the first direction, the first paddle 251 will abut against the first surface 2411, thereby driving the second rotating disk 240 and the first paddle 251 to rotate synchronously in the first direction. The second rotating disk 240 is connected to the first rotating disk 220. When the second rotating disk 240 rotates, the first rotating disk 220 rotates accordingly. The above connection can be a direct connection or an indirect connection. For example, the second rotating disk 240 is directly connected to the first rotating disk 220, and the two rotate synchronously, or the second rotating disk 240 drives the first rotating disk 220 to rotate through an intermediate member. Alternatively, the second rotating disk 240 and the first rotating disk 220 can be combined into one component, that is, the boss 241 is directly set on the first rotating disk 220.

[0066] As the first rotating disk 220 rotates, the abutting member 221 on the first rotating disk 220 abuts and pushes out one unlocking member 230. After being pushed out, the driving arm 211 and the first paddle 251 rotate along the second direction relative to the second rotating disk 240 until they reach the second surface 2412 on the adjacent boss 241. The driving arm 211 continuously rotates back and forth to push out each unlocking member 230 in sequence.

[0067] In this embodiment, when the second rotating disk 240 is pushed by the reciprocating rotation of the first paddle 251, the second rotating disk 240 can realize intermittent rotation to realize intermittent pushing out of the unlocking member 230. After the abutting member 221 pushes out the first unlocking member 230, the unlocking member 230 will push the second rotating arm 332 in the first fixing module 300 to rotate to release the fixation of the object 600 to be put. Then, during the retraction process of the first paddle 251, the object 600 to be put down is lowered and the hanging rope 500 is continuously released. After the hanging rope 500 is completely released, the first paddle 251 continues to push the second rotating disk 240 to rotate and push out the next unlocking member 230. The unlocking member 230 will push the second rotating arm in the second fixing module 400 to release the fixation of the hanging ring 510. It is also possible to directly use a servo motor to drive the second rotating disk 240 to rotate intermittently, but the cost of the servo motor is relatively high. In this embodiment, the driving member 210 cooperates with the first paddle 251 and the boss 241 structure to complete intermittent rotation, which does not require a high motor and can use a conventional steering gear to reduce costs.

[0068] In some embodiments, the boss 241 further includes a second surface 2412. In the second direction, the end height of the second surface 2412 of the boss 241 is greater than the beginning height of the second surface 2412 of the adjacent boss 241. The first paddle 251 is elastic. When the first paddle 251 rotates in the second direction, it is in a compressed state and will always elastically abut against the second surface 2412. When the first paddle 251 rotates along the second surface 2412 to the end of the boss 241, the height between the bosses 241 decreases, and the first paddle 251 will rebound and abut against the second surface 2412 of the adjacent boss 241. When the first paddle 251 rotates in the first direction again, it will abut against the first surface 2411 and continue to push the second rotating disk 240 to rotate. In the above process, the one-way rotation is achieved by elastic abutment, the structure is simpler, and the first paddle 251 always abuts against the boss 241 during the rotation process, making the movement process smoother.

[0069] Furthermore, in some embodiments, the height of each boss 241 gradually increases along the second direction. That is, when the first paddle 251 rotates and retracts along the second direction, the contact between the first paddle 251 and the second surface 2412 becomes tighter and tighter, and the degree of compression becomes greater and greater. In this way, when the first paddle 251 reaches the end of the boss 241, its rebound force will be greater, and it can rebound more easily to the adjacent boss 241.

[0070] In some embodiments, a limiting member is further provided. When the first paddle 251 rotates in the second direction, the limiting member can limit the second rotating disk 240 to prevent it from rotating. Specifically, the limiting member includes a second paddle 252, which is fixedly connected to the frame body 110, has the same shape as the first paddle 251, and is also elastic. When the first paddle 251 pushes the second rotating disk 240 to rotate in the first direction, the second paddle 252 will abut against the second surface 2412 on the boss 241 at the corresponding position, and the two rotate relative to each other. When the first paddle 251 completes a pushing stroke, the second paddle 252 can abut against the first surface 2411 of the boss 241 at the corresponding position. When the first paddle 251 rotates and retracts in the second direction, the second rotating disk 240 will remain at the current position due to the abutment and limitation of the second paddle 252, which can prevent the second rotating disk 240 from rotating and retracting to the original position together with the first paddle 251 due to excessive friction between the first paddle 251 and the second surface 2412. In addition, after long-term use, the end of the second paddle 252 may be worn, so the second surface 2412 can be set as a smoother surface as much as possible to reduce the friction between the first paddle 251 and the second surface 2412, thereby reducing the possibility of the second rotating disk 240 rotating and retracting in the second direction, making the abutment force of the second paddle 252 on the second surface 2412 as small as possible to reduce its wear.

[0071] In some embodiments, a third rotating disk 260 is also provided, and the third rotating disk 260 and the first rotating disk 220 are gears, and the two are meshed. The second rotating disk 240 is coaxially connected to the third rotating disk 260, and the two can rotate synchronously. The diameter of the third rotating disk 260 is smaller than the diameter of the first rotating disk 220. Therefore, when the second rotating disk 240 drives the first rotating disk 220 to rotate through the third rotating disk 260, it can be decelerated to make the entire movement process more stable. In addition, a gear set can also be provided, and the second rotating disk 240 is connected to the first rotating disk 220 through the gear set. Alternatively, the first rotating disk 220 and the third rotating disk 260 are both set as friction wheels, or other conventional transmission methods are also possible, such as belt drive or chain drive. In addition, the second rotating disk 240 and the third rotating disk 260 can also be combined into one component, that is, the boss 241 is directly set on the third rotating disk 260.

[0072] Reference Fig.12 and Fig.13 In some embodiments, a third elastic member 270 is further provided. A fixing portion 111 is provided on the frame body 110. Two ends of the third elastic member 270 are fixedly connected to the fixing portion 111 and the unlocking member 230, respectively. When the first rotating disk 220 drives the abutting member 221 to abut and push out the unlocking member 230, the third elastic member 270 is compressed. When the first rotating disk 220 continues to rotate and the abutting member 221 is separated from the unlocking member 230, the unlocking member 230 will automatically reset under the driving force of the third elastic member 270 to prepare for the next push. In this embodiment, the abutting member 221 can be automatically reset after being pushed, and there is no need to set other structures to reset the abutting member 221.

[0073] In some embodiments, the unlocking member 230 includes a roller 231. When the supporting member 221 rotates to the unlocking member 230, it will resist the roller 231. The roller 231 will roll to reduce the friction during the resisting process, which not only makes the unlocking member 230 easier to be pushed out, but also reduces the wear of the supporting member 221 and the unlocking member 230.

[0074] In some embodiments, a slider 112 is provided on the rack body 110, and a slide groove 232 is provided on the unlocking member 230. The slider 112 is inserted into the slide groove 232. When the unlocking member 230 is pushed out, the slider 112 guides the unlocking member 230 through the slide groove 232. The cooperation between the slider 112 and the slide groove 232 can increase the stability of the unlocking member 230 when it is pushed out, and it is not easy to be offset. Alternatively, the slider 112 can be set on the unlocking member 230, and the slide groove can be set on the rack body 110.

[0075] Reference Fig. 9 and Fig.11In some embodiments, the abutting member 221 includes an abutting surface 2211, which is a curved surface. Along the rotation direction of the first rotating disk 220, the distance between the abutting surface 2211 and the axis of the rotation axis of the first rotating disk 220 becomes smaller and smaller. During the rotation of the first rotating disk 220, when the abutting member 221 just reaches the area near the unlocking member 230, the abutting surface 2211 does not contact the unlocking member 230. As the first rotating disk 220 continues to rotate, the abutting surface 2211 will gradually contact and press against the unlocking member 230, and the pressing degree will become greater and greater until the abutting member 221 is separated from the unlocking member 230. In this way, the abutting member 221 can be more easily pressed against the unlocking member 230, and the abutting and pushing process is smoother.

[0076] Reference Fig.14 In some embodiments, a drone is also included, and the drone includes the delivery device in the above embodiments. The drone is provided with a mounting part 700, and the delivery device is mounted on the drone body through the mounting part 700.

[0077] In some embodiments, the drone is loaded with a plurality of objects to be delivered 600, and correspondingly, a plurality of first fixing modules 300 and second fixing modules 400 are also provided. An unlocking member 230 is correspondingly provided at each first fixing module 300 and second fixing module 400, and the driving member 210 drives the abutting member 221 to rotate, so as to intermittently push out each unlocking member 230 in sequence, thereby delivering the plurality of objects to be delivered 600 in sequence.

[0078] With reference to all the accompanying drawings, when the drone in some embodiments of the present invention is used for delivery, the object 600 to be delivered is first loaded on the first fixed module 300, and the ring 510 at the end of the suspension rope 500 connected to the object 600 to be delivered is loaded on the second fixed module 400. Then, the drone takes off, and when it reaches above the delivery area, the driving member 210 drives the first paddle 251 to rotate along the first direction. The first paddle 251 abuts against the first surface 2411 of the boss 241 to push the second rotating disk 240 to rotate, and the third rotating disk 260 connected to the second rotating disk 240 rotates synchronously, and drives the first rotating disk 220 engaged therewith to rotate. When the first rotating disk 220 rotates, the abutting member 221 arranged thereon pushes out the unlocking member 230 at the corresponding position of the first fixed module 300. The unlocking member 230 then pushes the second rotating arm 332 in the first fixed module 300 to rotate, so that the first rotating arm 331 is separated from the supporting member 310. The first elastic member 320 drives the supporting member 310 to rotate and open, and the object to be delivered 600 falls under the action of gravity. Under the action of the damper 530, the object to be delivered 600 will slowly fall, and the suspension rope 500 wound on the rope roller 520 will be released when falling. When the suspension rope 500 is fully released, if the height of the object to be delivered 600 from the ground is still large, the drone can slowly lower its height to reduce the height of the object to be delivered 600 from the ground; if the length of the suspension rope 500 is reasonably designed, the height of the object to be delivered 600 from the ground is already small, or even close to zero, then the drone does not need to be lowered. During the period when the object to be delivered 600 is descending and hanging on the drone, the driving member 210 drives the first paddle 251 to rotate in the second direction and retreat to the adjacent boss 241. After the position of the object to be delivered 600 is stable, the driving member 210 drives the first paddle 251 to rotate in the first direction again to push out the unlocking member 230 at the corresponding position of the second fixing module 400. The unlocking member 230 pushes the second rotating arm in the second fixing module 400 to rotate, so that the first rotating arm is separated from the supporting member. The first elastic member drives the supporting member to rotate to open, and the hanging ring 510 is separated from the second fixing module 400, and the hanging ring 510, the hanging rope 500 and the object to be delivered 600 fall to the ground together.

[0079] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in the relevant technical field without departing from the purpose of the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

Claims

1. A delivery device, used for delivering objects to be delivered, wherein the objects to be delivered can be connected to a hanging rope, and characterized in that: include: frame; A first fixing module, the first fixing module is connected to the frame, and the first fixing module is used to fix the object to be delivered; A second fixing module, the second fixing module is connected to the frame, and the second fixing module is used to fix the suspension rope; A driving module, wherein the driving module is connected to the frame, and the driving module is used to intermittently drive the first fixed module and the second fixed module to move to unlock in sequence. The driving module includes a driving member, a first turntable and at least two unlocking members. The first turntable is provided with a supporting member, and the driving member is used to drive the first turntable to rotate. When the first turntable rotates, the supporting member can sequentially support and push out the two unlocking members, and the two unlocking members are respectively used to drive the first fixed module and the second fixed module to move to unlock.

2. The delivery device according to claim 1, characterized in that: The first fixing module includes a supporting member, a first elastic member, a rotating member and a second elastic member, the supporting member is used to support the object to be put, the supporting member and the rotating member are both rotatably connected to the frame, the rotating member includes a first rotating arm, the two ends of the second elastic member are respectively connected to the frame and the first rotating arm, the second elastic member is used to drive the first rotating arm to abut against the supporting member to prevent the supporting member from opening, the driving module is used to drive the first rotating arm to rotate and separate from the supporting member, and the first elastic member is used to drive the supporting member to rotate to open.

3. The delivery device according to claim 2, characterized in that: The rotating member also includes a second rotating arm, the connection between the second rotating arm and the first rotating arm is rotatably connected to the frame, and the distance between the rotation center of the rotating member and the end of the second rotating arm is smaller than the distance between the rotation center of the rotating member and the end of the first rotating arm.

4. The delivery device according to claim 1, characterized in that: The driving module also includes a first paddle and a second turntable, the second turntable is connected to the first turntable, a first surface and a second surface are provided on the second turntable, the first surface and the second surface define a boss, at least two of the bosses are distributed along the circumferential direction, the driving member is connected to the first paddle, in a pushing state, the first paddle can be abutted against the first surface so that the second turntable and the first paddle rotate synchronously along the first direction, and in a retracting state, the first paddle can rotate relative to the second turntable in the second direction until it reaches the second surface of the adjacent boss.

5. The delivery device according to claim 4, characterized in that: Along the second direction, the height of the end of the boss is greater than the height of the start of the adjacent boss, the first paddle is elastic, and in a retracted state, the first paddle elastically abuts against the second surface.

6. The delivery device according to claim 4, characterized in that: A limiting member is also included, and the limiting member is used to limit the rotation of the second rotating disk when the first paddle rotates along the second direction.

7. The delivery device according to claim 1, characterized in that: The driving module further comprises a third elastic member, both ends of which are fixedly connected to the frame and the unlocking member respectively, and the third elastic member is used for driving the unlocking member to reset after the abutting member is separated from the unlocking member.

8. A drone, characterized in that A delivery device comprising any one of claims 1 to 7.

Images