Unmanned aerial system, parachute module and its folding structure, mold and opening method

Abstract

The application discloses a parachute folding structure for unmanned aerial vehicle express box delivery, a folding die and a parachute module, and an express box delivery unmanned aerial vehicle system and an opening parachute method using the parachute module. The folding structure is folded back and forth along up and down folding lines in the outward radiation direction from the center of the parachute to form a concentric pleat shape; the folding structure is formed by die pressing; the parachute module comprises a bottom box, a middle ring and a folded parachute; the middle ring is fixed to the center part and detachably connected to the lower part of the unmanned aerial vehicle dropper through an opening parachute connecting piece; the connecting force between the opening parachute connecting piece and the dropper is sufficient to maintain the connection before the unmanned aerial vehicle performs the air drop operation and in the opening parachute process of the air drop operation, and meanwhile, the connecting force can be detached under the action of up and down pulling forces after the unmanned aerial vehicle express box is separated from the unmanned aerial vehicle and the parachute is completely pulled out. The application has the advantages of simple and compact structure, small volume after folding, suitability for standardization and large-scale low-cost production, and smooth and reliable opening parachute.

Description

Technical Field

[0005]

[0001] This application relates to the technical fields of parachutes for drone delivery box dropping and drone technology, and particularly relates to a parachute module for drone delivery box dropping, its parachute folding structure, folding mold, parachute opening method, and a drone system for delivery box dropping. Background Art

[0002] The existing drone delivery box delivery methods mainly include directly dropping the delivery box by the drone landing on the ground or dropping it by means of a rope suspension when the drone is suspended in the air. However, for safety considerations, in some complex environments, the drone cannot approach and land in the dropping area, so the suspended rope dropping method or landing on the ground to complete the delivery box dropping cannot be adopted. In this case, using a parachute to drop the delivery box becomes a better choice.

[0003] However, the delivery box parachute dropping method is still rarely used. In addition to some items in the delivery not being suitable for parachute dropping, the main reasons are as follows: The existing binding method of the delivery box and the parachute is not standardized. Most of them are manually binding the parachute to the box body, with strong randomness. The parachute not only takes up volume but is also not easy to place; The existing delivery box parachute dropping method is still relatively primitive, and the parachute dropping technology has not been optimized. As a result, for the few enterprises that use parachute dropping, the existing parachutes for delivery boxes not only have a large self-weight, but also have a small parachute opening area, short and few parachute ropes, resulting in a small air volume caught by the parachute body and a too fast parachute dropping speed, and the dropping effect is not very good; The existing delivery boxes and parachutes for parachute dropping cannot be mass-produced and installed, and the cost of large-scale use of parachute dropping is too high.

[0004] The invention patent application with the publication number of CN111216900A discloses a folding structure of a parachute canopy. A plurality of dividing lines divide the folding area of the canopy into multiple sub-areas outside the central area of the canopy. The dividing lines are radially arranged outside the central area. A plurality of "square" - shaped broken lines spread from the central area to the edge of the canopy in the folding area. The broken lines fold each area of the canopy into accordion pleats, and the canopy is folded into multiple accordion pleat columns with the dividing lines as the axes. This application attempts to standardize and compact the folding method of the canopy, but its folding method still requires multiple steps, and the folding structure is still relatively complex, which is not conducive to mass production. The compactness of the folding structure, the smoothness and reliability of the parachute opening process determined by the folding structure can still be further improved. <00,00010> Summary of the Invention<00,00011><00,00012>In view of the deficiencies of the existing parachute folding mode and parachute opening mode for unmanned aerial vehicle express box delivery, the present application provides a parachute folding structure and folding mold for unmanned aerial vehicle express box delivery, which has a simple and compact structure, a small volume after folding, is suitable for standardization and large-scale low-cost production, is easy to install, and has a good parachute opening effect, as well as a parachute module for unmanned aerial vehicle express box delivery and a parachute opening method using the folding structure, and a unmanned aerial vehicle system for express box delivery comprising the parachute module.

[0006] The parachute folding structure for unmanned aerial vehicle express box delivery provided by the present application has the following features: the parachute before folding has a planar shape, the folded parachute comprises a center part and a folding part, the canopy of the center part maintains the shape before folding and is located at the bottom of the folding structure, and the canopy of the folding part is perpendicular to the shape before folding; the creases of the folding part comprise a plurality of upper folding lines and lower folding lines, the upper folding lines and the lower folding lines are both closed planar curves around the center part, and the canopy of the folding part is folded back and forth along the upper folding lines and the lower folding lines in the direction of radiation outward from the center part to form a pleated structure.

[0007] Further, the center part is circular or elliptical or polygonal, and the upper folding lines and the lower folding lines are correspondingly circular or elliptical or polygonal.

[0008] Further, the center part is circular, and the plurality of upper folding lines and lower folding lines are in the shape of concentric circles, and the center of the concentric circles coincides with the center of the center part.

[0009] Further, a part of the parachute cord of the parachute is folded into the folding structure together with the canopy, and the part of the parachute cord that is not folded extends from around the center part.

[0010] The unmanned aerial vehicle express box delivery parachute module comprises a bottom box, a middle ring and a folded parachute; the bottom box comprises a bottom surface and an outer cylinder, the bottom surface and the outer cylinder are connected to form a basin structure, and the folded parachute is located in the basin structure; the bottom surface comprises a bottom connecting piece for fixing the parachute module to the bottom of the unmanned aerial vehicle express box, and one end of a parachute rope of the parachute is fixed to the bottom connecting piece; the middle ring is a circular sheet, and the size of the middle ring is smaller than that of the center part; the center part is provided with a connecting through hole, the diameter of the connecting through hole is matched with the inner hole diameter of the middle ring, the lower surface of the middle ring is fixedly connected to the upper surface of the center part, and the inner hole of the middle ring is aligned with the connecting through hole of the center part; the upper surface of the middle ring is fixedly provided with an opening parachute connecting piece for being connected to an unmanned aerial vehicle dropper; the connecting force between the opening parachute connecting piece and the dropper is sufficient to maintain the connection between the opening parachute connecting piece and the dropper before the unmanned aerial vehicle performs the air drop operation and in the opening parachute process during the air drop operation, and after the unmanned aerial vehicle express box is separated from the unmanned aerial vehicle and the parachute is completely pulled out by the opening parachute connecting piece through the middle ring, the opening parachute connecting piece can be separated from the dropper under the action of upward and downward pulling forces.

[0011] Further, the connection mode of the opening parachute connecting piece and the dropper is one or a combination of permanent magnet connection, electromagnetic connection, magic tape connection or adhesive connection.

[0012] Further, the parachute module further comprises an upper cover and an inner cylinder; the upper cover is provided with a through hole in the center, the inner cylinder is in a cylindrical shape, has the same diameter as the outer diameter of the middle ring, is connected to the edge of the middle ring at the lower end, has the same height as the outer cylinder of the bottom box, and is connected to the outer end of the bottom box and the upper end of the outer cylinder of the bottom box; the diameter of the through hole in the center of the upper cover is the same as the diameter of the inner cylinder, and the edge of the through hole in the center of the upper cover is connected to the upper end of the inner cylinder; the upper cover is made of a dustproof and waterproof film material and is provided with a pressure mark, a micro hole line or a pull-cut line or a combination of the above technical means for guiding the upper cover to tear outward from the center through hole; the upper cover can also be made of light plastic which is easy to fall off from the connection, but when the upper cover is made of the easy-to-tear film material, no additional falling objects will be generated in the opening parachute process.

[0013] The application also provides a pop-up parachute module for unmanned aerial vehicle express box delivery, comprising a bottom box, an upper cover, a folded parachute according to the aforementioned parachute folding structure for unmanned aerial vehicle express box delivery, and a parachute pop-up device; the bottom box comprises a bottom connecting piece for fixing the parachute module to the top of the unmanned aerial vehicle express box or the unmanned aerial vehicle; the bottom box is in a basin-shaped structure, the upper cover is connected to the upper end of the bottom box and covers the entire bottom box, the folded parachute and the parachute pop-up device are located in the internal space formed by the bottom box and the upper cover; the upper cover is made of dustproof and waterproof easy-to-tear material and has a pressure mark, a micro-hole line or a pull-cut line for guiding the upper cover to tear outward from the center through hole, or a combination of these technical means; the folded parachute is in an inverted state, with the center part located above; the parachute pop-up device is located below the center part, and the parachute is popped up by one or a combination of compressed springs, high-pressure gas or explosive gas generators when the parachute is opened. The pop-up parachute module provided by the application can be fixed on the express box as a delivery parachute, or fixed on the top of the unmanned aerial vehicle as a rescue emergency parachute.

[0014] The application also provides a folding mold for the aforementioned parachute folding structure for unmanned aerial vehicle express box delivery, comprising an upper mold plate group and a lower mold; the lower mold comprises a horizontal bottom plate, a center mold and a lower mold plate group, the center mold and the lower mold plate group are fixedly connected to the upper side of the bottom plate, the center mold is in a boss shape and located at the center of the bottom plate, the lower mold plate group comprises N vertically arranged, height-same, outwardly radiatingly nested cylindrical lower mold plates around the center mold, and N≥1, the cross section of the cylindrical lower mold plate is a closed curve, and a total of N vertical cylindrical grooves are formed between the innermost cylindrical lower mold plate and the center mold, and between adjacent cylindrical lower mold plates; the upper mold plate group comprises N cylindrical upper mold plates with the same height, the same cross-sectional shape as the N vertical cylindrical grooves, and the thickness of each upper mold plate is less than the thickness of the N vertical cylindrical grooves, and the height of each upper mold plate is greater than the height of the center mold.

[0015] The upper mold plate group and the lower mold are used in combination to press the parachute into a center part and a folding part, the center part has the same shape as the center mold, and the folding part is folded back and forth to form a pleat structure in the gap formed by the upper mold plate group and the N vertical cylindrical grooves.

[0016] The folding method of the aforementioned parachute folding structure for unmanned aerial vehicle express box delivery is as follows: the folding structure is pressed out by the folding mold for the parachute folding structure for unmanned aerial vehicle express box delivery, comprising the following steps:

[0017] S1. Place the canopy above the lower mold, and align the center of the canopy with the center mold of the lower mold;

[0018] S2. sequentially press the upper mold plate set into the lower mold from the center of the canopy outward until the upper mold plate set presses the canopy to the bottom plate;

[0019] S3. take out the upper mold plate set;

[0020] S4. take out the lower mold;

[0021] S5. the umbrella rope is placed above the center part after being wound separately.

[0022] The foregoing unmanned aerial vehicle express box delivery parachute folding structure can also have another folding method, which is also pressed out by the folding mold of the foregoing unmanned aerial vehicle express box delivery parachute folding structure, and includes the following steps:

[0023] S1. place the canopy above the lower mold, and align the center of the canopy with the center of the lower mold;

[0024] S2. place the umbrella rope of the parachute above the canopy along the radial direction of the canopy, and place the part of the umbrella rope that exceeds the distance from the edge of the canopy to the center part above the center of the canopy after being wound;

[0025] S3. sequentially press the upper mold plate set into the lower mold from the center of the canopy outward until the upper mold plate set presses the canopy and the umbrella rope to the bottom plate;

[0026] S4. take out the upper mold plate set;

[0027] S5. take out the lower mold.

[0028] The present application also provides an opening method for the foregoing unmanned aerial vehicle express box delivery parachute module, the bottom connecting piece on the bottom box is fixed to the unmanned aerial vehicle express box, the bottom of the air dropper and the top of the express box are connected through detachable connecting devices, the center part is provided with a connecting through hole, the detachable connecting devices connect the express box to the air dropper through the connecting through hole, and the air dropper is also connected with the opening connecting piece before opening the parachute.

[0029] The opening process includes the following steps:

[0030] S1. make the detachable connecting devices detachable through a mechanical method or an electronic control method;

[0031] S2. the unmanned aerial vehicle express box freely falls under the action of gravity, and falls together with the parachute module through the bottom connecting piece, and the air dropper pulls the center part upward through the opening connecting piece and the middle ring;

[0032] S3. The center portion pulls the folding portion out in turn along the direction radiating outward from the center portion; when the folding structure includes a partial umbrella rope, the partial umbrella rope is also pulled out together;

[0033] S4. The umbrella cloth and the bottom connector on the bottom box pull the umbrella rope straight and tension it;

[0034] S5. The unmanned aerial vehicle express box pulls the connection between the opening umbrella connecting piece and the air dropper apart through the bottom connector, the umbrella rope, the umbrella cloth and the middle ring;

[0035] S6. The umbrella cloth is unfolded during the descent of the unmanned aerial vehicle express box, and the opening umbrella process is completed.

[0036] Further, the air dropper includes a fixedly connected tripper and stabilizer, the express box top is provided with an insertion buckle, the insertion buckle and the tripper constitute the detachable connecting device, the insertion buckle is connected with the tripper through the connecting through hole of the center portion before opening the umbrella, and can be detached from the tripper through mechanical or electronic control mode, and the opening umbrella connecting piece is connected with the bottom of the stabilizer before opening the umbrella.

[0037] The unmanned aerial vehicle express box delivery system provided by the application includes an unmanned aerial vehicle, an air dropper, an express box and the aforementioned unmanned aerial vehicle express box delivery parachute module; the parachute module is located above the express box and is connected to the top of the express box through the bottom connector, the air dropper is connected to the bottom of the unmanned aerial vehicle; the bottom of the air dropper and the top of the express box are connected through a detachable connecting device, the detachable connecting device connects the express box to the air dropper through the connecting through hole of the center portion, and the bottom of the air dropper is also connected with the opening umbrella connecting piece before opening the umbrella.

[0038] Further, the air dropper includes a tripper and a stabilizer, the tripper is connected to the bottom of the unmanned aerial vehicle, and the stabilizer is connected to the tripper, the bottom of the stabilizer is connected with the opening umbrella connecting piece of the parachute module; the express box includes an insertion buckle, the insertion buckle is connected to the tripper through the connecting through hole of the center portion, and constitutes the detachable connecting device.

[0039] Further, the unmanned aerial vehicle express box delivery system further includes the aforementioned unmanned aerial vehicle express box delivery pop-up parachute module, and the pop-up parachute module is fixed to the top of the unmanned aerial vehicle. When the unmanned aerial vehicle detects power failure or serious failure, the parachute in the pop-up parachute module can be popped up to avoid danger caused by high-speed falling of the unmanned aerial vehicle and reduce loss.

[0040] Compared with the prior art, the advantages of the application include:

[0041] 1. The parachute folding structure provided by the present application is simple and compact, has a small volume after folding, and can accommodate a larger parachute canopy in a smaller parachute module, thereby improving the delivery effect of the express box;

[0042] 2. The concentric folding structure provided by the present application is centrally symmetrical and suitable for being pressed by a mold, so that the folding of the parachute canopy can be standardized and mass-produced, thereby reducing the production cost and ensuring the stable quality and reliable function of the parachute module;

[0043] 3. The parachute module provided by the present application is particularly suitable for upward opening, and the entire opening process is very smooth, thereby ensuring the reliability of the opening process;

[0044] 4. The parachute module provided by the present application is also suitable for pop-up opening, and the parachute pop-up device is installed below the central area of the parachute canopy. Whether a spring, high-pressure gas or an explosive gas generator or a combination of these technologies is used, the entire pop-up process of the parachute canopy is very smooth, thereby ensuring the reliability of the opening process. The pop-up opening mode can be used for express box delivery and emergency rescue of unmanned aerial vehicles;

[0045] 5. The parachute module provided by the present application can arrange the parachute folding structure, the bottom connecting piece of the express box, the winding structure of the parachute rope, the decoupling device and stabilizer connected with the express box, the parachute opening connecting piece connected with the unmanned aerial vehicle, and the upper cover for protecting the parachute in the limited space, thereby fully utilizing the limited space and improving the efficiency of the entire system;

[0046] 6. The parachute module and the unmanned aerial vehicle are connected through the parachute opening connecting piece, and the structure is simple and the cost is low. Meanwhile, the opening and decoupling functions can be automatically realized without the need for an additional control system, which is simple and reliable.

[0047] 7. The parachute module and the parachute opening connecting piece provided by the present application have low cost and can be used at one time; meanwhile, they can be reused, thereby further reducing the cost.

[0048] 8. The upper cover of the parachute module provided by the present application is made of a tearable film material and a tearable structure, which plays a role in waterproofing, dustproofing and improving the appearance, and can avoid the generation of additional falling objects during the opening of the parachute.

[0049] 9. The folding structure provided by the present application can reliably accommodate part of the parachute rope, shorten the length of the parachute rope that needs to be wound, and reduce or even avoid the winding of the parachute rope during the opening process. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 is a perspective view of the parachute folding structure for express box delivery of the unmanned aerial vehicle in Example 1.

[0051] Figure 2 is the folded parachute structure for drone delivery box drop of embodiment one.

[0052] Figure 3 is the lower mold of embodiment two.

[0053] Figure 4 is the folding method of embodiment two.

[0054] Figure 5 is the parachute module for drone delivery box drop of embodiment three.

[0055] Figure 6 is the parachute module assembly for drone delivery box drop of embodiment three.

[0056] Figure 7 is the drone system for delivery box drop of embodiment three and embodiment six.

[0057] Figure 8 is the parachute module opening method for drone delivery box drop of embodiment four.

[0058] Figure 9 is the pop-up parachute module for drone delivery box drop of embodiment five.

[0059] Figure 10 is the drone system for delivery box drop of embodiment three and embodiment six.

[0060] In the figure: 1. Folded parachute; 2. Parachute module; 3. Delivery box; 4. Drone; 5. Tripper; 6. Stabilizer; 7. Upper mold plate set; 8. Lower mold; 101. Center part; 102. Folding part; 103. Upper folding line; 104. Lower folding line; 105. Connection via; 106. Parachute rope; 201. Bottom box; 202. Middle ring; 203. Upper cover; 204. Bottom connector; 205. Parachute opening connector; 206. Inner cylinder; 207. Parachute pop-up device; 301. Insert buckle; 401. Top of the drone; 801. Bottom plate; 802. Center mold; 803. Lower mold plate set; 804. Insert slot. DETAILED DESCRIPTION

[0061] Following, the embodiments of the present application are illustrated by specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied by other different embodiments, and various modifications or changes can be made to the details in the present specification based on different views and applications without departing from the spirit of the present application. The following examples and features in the examples can be combined with each other without conflict.

[0062] Example 1: A folding structure of a parachute for unmanned aerial vehicle (UAV) express box delivery.

[0063] As shown in Figure 4 , the parachute for UAV express box delivery of the present embodiment comprises a canopy and a parachute cord 106. The canopy is in a planar circular shape before folding, with a diameter of 1.8 m. As shown in Figure 1 and Figure 2 , the folded parachute 1 comprises a center portion 101 and a folding portion 102. The center portion 101 is circular and maintains the shape before folding and is located at the bottom of the folding structure, with a diameter of 10 cm. The center portion 101 is provided with a connecting through hole 105, and the folding portion 102 is perpendicular to the shape before folding, with a height of 5 cm.

[0064] The creases of the folding portion 102 comprise 8 pairs of upper folding lines 103 and 15 lower folding lines 104. The upper folding lines 103 and the lower folding lines 104 are concentric circles around the center portion 101 and concentric with the center portion 101. The folding portion 102 is folded back and forth along the upper folding lines 103 and the lower folding lines 104 in the direction of the center portion 101 radiating outward to form a pleated structure.

[0065] A part of the parachute cord 106 is folded into the pleated structure together with the canopy (not shown in the figure), and the unfolded part is wound and placed above the center portion 101.

[0066] The distance between each pair of upper folding lines 103 and the distance between the two adjacent pairs of lower folding lines 104 gradually increase from inside to outside, so as to facilitate the folding of the canopy. After folding, the diameter of the entire folding structure is 20 cm, and the height is 5 cm. The structure is compact, and the space above the center portion 101 can be arranged with components such as a device for connecting the UAV and the express box, an opening device, and a winding structure of the parachute cord 106.

[0067] Example 2: A folding mold of a parachute for unmanned aerial vehicle (UAV) express box delivery.

[0068] As shown in Figure 3 and Figure 4As shown, this embodiment includes an upper template group 7 and a lower mold 8. The upper template group 7 includes eight cylindrical templates, the diameter of which is designed according to the corresponding dimensions of the target folding structure. The lower mold 8 includes a base plate 801, a center mold 802, and a lower template group 803, with slots 804 formed between the templates of the lower template group 803. The height of the upper template group is 10cm, the height of the lower template group 803 is 5cm, and the center mold 802 is a frustum of a cone with a diameter of 10cm and a height of 5cm. Other dimensions of the upper template group 7 and the lower mold 8 are designed according to the corresponding dimensions of the target folding structure.

[0069] The following describes the folding method of the folding structure described in Embodiment 1: Using the mold of this embodiment, the parachute can be pressed into the folded parachute 1 described in Embodiment 1. The pressing process includes the following steps:

[0070] S1. Place the umbrella canopy with the bottom side facing up on top of the lower mold 8, aligning the center of the umbrella canopy with the center mold 802;

[0071] S2. Place the paracord 106 straight along the radial direction of the canopy above the canopy, and then wrap the portion of the paracord 106 that extends beyond the edge of the canopy to the center and place it above the center of the canopy.

[0072] S3. Starting from the center of the canopy, press the eight cylindrical templates of the upper template group 7 into the slots 804 of the lower mold 8 in sequence until the upper template group 7 presses the canopy and part of the parachute ropes 106 to the bottom of the slots 804.

[0073] S4. Remove the upper template group 7;

[0074] S5. Remove the lower mold 8 to complete the folding process.

[0075] When the paracord 106 does not need to be pressed into the pleated structure, in step S2 above, the paracord 106 needs to be placed outside the canopy. After the folding process is completed, the paracord 106 is wound separately and its end is placed on the center part 101.

[0076] Example 3: A parachute module for drone delivery of express boxes.

[0077] like Figure 5 As shown, the parachute module 2 in this embodiment includes a base box 201, a middle ring 202, a top cover 203, an inner cylinder 206, and a parachute 1 folded using the folding structure described in Embodiment 1. The base box 201 is equipped with a bottom connector 204 for fixing the parachute module 2 to the drone delivery box 3, and one end of the parachute rope 106 is fixed to the bottom connector 204 (not shown in the figure). The middle ring 202 is a circular thin sheet with an outer diameter smaller than the diameter of the central portion 101, and the central portion 101 has a connection through hole 105 (see Figure 105). Figure 2) and its diameter matches the inner diameter of the middle ring 202, the lower surface of the middle ring 202 is fixedly connected with the central part 101 and the inner hole of the middle ring 202 is aligned with the connecting through hole 105 of the central part 101, and the upper surface of the middle ring 202 is fixedly connected with the umbrella-opening connecting piece 205 with ferromagnetism. Figure 6 、 Figure 7 and Figure 10 As shown in the drawings, when applied to the unmanned aerial vehicle system for delivering the express box, the bottom of the unmanned aerial vehicle 4 is provided with a tripping device 5 and a stabilizer 6, and the top of the express box 3 is fixedly provided with a plug 301; the bottom of the stabilizer 6 is fixedly provided with a permanent magnet piece (not shown in the drawings), the plug 301 is connected to the tripping device 5, and the umbrella-opening connecting piece 205 is connected to the permanent magnet piece at the bottom of the stabilizer 6.

[0078] The parachute module of the embodiment is suitable for the express box with a total weight of 1 kg to 3 kg after loading. The connecting force F between the umbrella-opening connecting piece 205 with ferromagnetism and the permanent magnet piece is greater than 10 N and less than 20 N, the lower limit of the connecting force F is determined according to the pulling force required for opening the umbrella, and the upper limit is determined according to the dynamic pulling force that can be generated by the express box when falling. F is sufficient to maintain the connection between the umbrella-opening connecting piece 205 and the stabilizer 6 before the unmanned aerial vehicle performs the air-drop operation and in the process of opening the umbrella during the air-drop operation, while the express box 3 is separated from the unmanned aerial vehicle and the canopy is completely pulled out, the umbrella rope is tensioned, and the umbrella-opening connecting piece 205 can ensure that it is separated from the stabilizer 6 under the action of the upward and downward pulling forces.

[0079] The upper cover 203 is annular, the inner circle of which is fixedly connected with the upper end of the inner cylinder 206, and the outer circle of which is fixedly connected with the upper end of the bottom box 201 and covers the folded parachute 1 to play a dustproof and waterproof role. The upper cover 203 is provided with a micro-hole line (not shown in the drawings) for guiding it to be torn from the inner circle to the outer circle. In the process of opening the umbrella, the middle ring 202 drives the canopy and the inner cylinder 206 to tear the upper cover 203, and the upper cover 203 is only torn at the micro-hole line and remains on the bottom box 201.

[0080] Embodiment four: an umbrella-opening method of a parachute module for delivering an express box by an unmanned aerial vehicle.

[0081] As shown in the drawings, the unmanned aerial vehicle system for delivering the express box according to the embodiment relates to an unmanned aerial vehicle 4, the parachute module 2 described in embodiment three, an express box 3, a tripping device 5 and a stabilizer 6. The tripping device 5 is connected to the bottom of the unmanned aerial vehicle, and the stabilizer 6 is fixed to the tripping device 5. The parachute module 2 is fixedly connected to the top of the express box 3 through the bottom connecting piece 204. The top of the express box 3 is provided with a plug 301, which is connected to the tripping device 5 before delivery. The bottom of the stabilizer 6 is fixedly provided with a permanent magnet piece (not shown in the drawings), and the upper surface of the middle ring 202 of the parachute module 2 is fixedly provided with an umbrella-opening connecting piece 205 made of ferromagnetic material, which is connected to the permanent magnet piece at the bottom of the stabilizer 6 before and during the process of opening the umbrella during delivery. Figures 6 to 8 Figure 10 As shown in the drawings, the unmanned aerial vehicle system for delivering the express box according to the embodiment relates to an unmanned aerial vehicle 4, the parachute module 2 described in embodiment three, an express box 3, a tripping device 5 and a stabilizer 6. The tripping device 5 is connected to the bottom of the unmanned aerial vehicle, and the stabilizer 6 is fixed to the tripping device 5. The parachute module 2 is fixedly connected to the top of the express box 3 through the bottom connecting piece 204. The top of the express box 3 is provided with a plug 301, which is connected to the tripping device 5 before delivery. The bottom of the stabilizer 6 is fixedly provided with a permanent magnet piece (not shown in the drawings), and the upper surface of the middle ring 202 of the parachute module 2 is fixedly provided with an umbrella-opening connecting piece 205 made of ferromagnetic material, which is connected to the permanent magnet piece at the bottom of the stabilizer 6 before and during the process of opening the umbrella during delivery.​

[0082] The opening process includes the steps of:

[0083] S1. The plug 301 is released from the release 5 by electronic control;

[0084] S2. The express box 3 freely falls under the action of gravity, and the parachute module 2 falls together through the bottom connecting piece 204, and the drone 4 pulls the center part 101 upward through the release 5, the stabilizer 6, the opening connection piece 205 and the middle ring 202, and the inner cylinder 206;

[0085] S3. The center part 101 pulls out the folded part 102 and the part of the umbrella rope 106 in the folded structure from the inside to the outside in turn;

[0086] S4. The canopy and the bottom connecting piece 204 straighten and tension the umbrella rope;

[0087] S5. The opening connection piece 205 is released from the stabilizer 6 under the action of upward and downward tension;

[0088] S6. The canopy is unfolded in the airflow generated during the descent of the express box 3, and the opening process is completed.

[0089] The entire opening process is smooth and reliable, and the duration is <1 second.

[0090] Example five: a pop-up parachute module for unmanned aerial vehicle express box delivery.

[0091] The pop-up parachute module for unmanned aerial vehicle express box delivery of the embodiment can be used for express box delivery and unmanned aerial vehicle emergency rescue. The application of unmanned aerial vehicle emergency rescue will be described in detail below. As shown in Figure 9 The pop-up parachute module of the embodiment is fixed to the top 401 of the unmanned aerial vehicle for unmanned aerial vehicle emergency rescue, including a bottom box, an upper cover, a parachute 1 folded with the folded structure described in example one, and a parachute pop-up device 207 (the bottom box and the upper cover are not shown in the figure); the bottom box includes a bottom connecting piece for fixing the embodiment to the top 401 of the unmanned aerial vehicle (not shown in the figure); the bottom box is a basin-shaped structure, the upper cover is connected to the upper end of the bottom box and covers the entire bottom box, the folded parachute 1 and the parachute pop-up device 207 are located in the internal space formed by the bottom box and the upper cover; the upper cover is made of dustproof and waterproof easy-to-tear material and has a micro-hole line for guiding the upper cover to tear outward from the center through hole; the parachute pop-up device 207 is located below the center part 101 and pops out the folded parachute 1 through a compression spring during opening.

[0092] When emergency rescue is needed, the control system of the unmanned aerial vehicle triggers the ejection device 207 of the parachute 1, and the center part 101 pulls out the folded part 102 and the umbrella rope 106 of the folded part from inside to outside in sequence during the ejection process, and the ejection process is completed. The ejection parachute module of the embodiment can also be installed on the top of the air drop box, and triggered by mechanical delay or electronic method after the air drop box leaves the unmanned aerial vehicle.

[0093] In order to better eject the parachute, a counterweight piece can be arranged below the center part 101 to ensure that the parachute is smoothly ejected and opened.

[0094] Embodiment six: a unmanned aerial vehicle system for delivering express boxes.

[0095] As shown in Figure 7 and Figure 10 The embodiment includes an unmanned aerial vehicle 4, a parachute module 2 for delivering express boxes by the unmanned aerial vehicle of embodiment three, an express box 3, a tripper 5, and a stabilizer 6. The tripper 5 is connected to the unmanned aerial vehicle 4, and the stabilizer 6 is connected to the tripper 5. The parachute module 2 is fixed to the top of the express box 3 by the bottom connector 204. The top of the express box 3 is provided with a plug 301, and the plug 301 is connected to the tripper 5 before delivery. The bottom of the stabilizer 6 is fixed with a permanent magnet piece (not shown in the figure), and the upper surface of the middle ring 202 of the parachute module 2 is fixed with an opening parachute connecting piece 205 made of ferromagnetic material, and the opening parachute connecting piece 205 is connected to the permanent magnet piece at the bottom of the stabilizer 6 before delivery and during the opening process of the parachute.

[0096] The steps of the delivery operation are the same as those of embodiment four, and will not be described here.

[0097] The above is only the preferred embodiment of the present application and the technical principle used, and various obvious changes, re-adjustments and substitutions can be made without departing from the concept of the present application. Those skilled in the art can easily understand other advantages and effects of the present application from the disclosure of the present application. The present application can also be implemented or applied by different specific embodiments, and the details in the specification can be modified or changed based on different views and applications without departing from the spirit of the present application. The above embodiments and features in the embodiments can be combined with each other without conflict.

[0098] The present application is suitable for express boxes of various weights and parachutes of different sizes. In actual use, the parachute opening connecting piece made of ferromagnetic material can be adjusted or replaced according to the actual weight of the mounting, to ensure that the express box is separated from the UAV and the parachute opening connecting piece is separated from the air dropper under the action of upward and downward pull after the parachute is completely pulled out. If a permanent magnet piece is arranged at the bottom of the air dropper, the attraction force can be adjusted by adjusting the material, size, and contact surface size and distance of the permanent magnet and the parachute opening connecting piece made of ferromagnetic material; if an electromagnet is used for attraction, the attraction force can also be adjusted by adjusting the current size of the electromagnet.

[0099] If the express box load or size is large, multiple insertion buckles can be arranged at the upper end of the express box, and the connection through holes of a single parachute module are passed through and connected with multiple air droppers on the UAV respectively; multiple parachute modules can also be arranged on the express box, so that the express box can be suspended and landed by multiple parachutes at the same time. The parachute module is not limited to a cylindrical shape, but can also be other shapes such as a circular truncated cone or a regular polygon. The parachute module can also be built-in or integrated on the upper part of the express box, so as to be integrated, facilitating storage and transportation.

[0100] One end of the parachute rope can be fixed to the bottom box of the parachute module, or can be directly connected with the express box through the through hole of the bottom box.

[0101] The connection between the tripper and the UAV can also include an electrical connection or a mechanical connection for controlling the tripper to trip, for controlling the tripper when dropping to make the insertion buckle on the express box separate from the tripper.

Claims

1. A parachute folding mold for a drone delivery box drop, characterized by, The lower mold comprises a horizontally arranged bottom plate, a center mold and a lower mold plate group, the center mold and the lower mold plate group are fixedly connected above the bottom plate, the center mold is in the shape of a boss and is located at the center of the bottom plate, the lower mold plate group comprises N vertically arranged cylindrical lower mold plates with the same height as the center mold, which are nested in the outward radiation direction of the center of the bottom plate, and N≥1, the cross section of the cylindrical lower mold plate is a closed curve, and a total of N vertical slots are formed between the innermost cylindrical lower mold plate and the center mold and between adjacent cylindrical lower mold plates. The upper mold plate group comprises N cylindrical upper mold plates with the same height, the cross section shape of each cylindrical upper mold plate is the same as that of the N vertical slots, the thickness of each cylindrical upper mold plate is less than the width of the N vertical slots, and the height of each cylindrical upper mold plate is greater than the height of the center mold. The upper mold plate group and the lower mold are used in cooperation to press the parachute into a center part and a folding part, the center part has the same shape as the center mold, and the folding part is folded back and forth to form a pleated structure in the gap formed by the upper mold plate group and the N vertical slots; the width of the slot gradually increases from inside to outside. The parachute before folding is in a planar form, and the folded parachute comprises a center part and a folding part, the canopy of the center part maintains the form before folding and is located at the bottom of the folding structure, and the canopy of the folding part is perpendicular to the form before folding.

2. A parachute folding structure for unmanned aerial vehicle express box delivery, which is pressed using the parachute folding mold for unmanned aerial vehicle express box delivery according to claim 1, characterized in that, The folding part comprises a plurality of upper folding lines and a plurality of lower folding lines, the upper folding lines and the lower folding lines are both closed curves around the center part, and the canopy of the folding part is folded back and forth along the upper folding lines and the lower folding lines in the outward radiation direction of the center part to form a pleated structure. The center part is in the shape of a circle, an ellipse or a polygon, and the upper folding lines and the lower folding lines are correspondingly in the shape of a circle, an ellipse or a polygon; the distance between each pair of upper folding lines and the distance between adjacent two pairs of lower folding lines gradually increase from inside to outside.

3. The parachute folding structure for unmanned aerial vehicle express box delivery according to claim 2, characterized in that, The center part is in the shape of a circle, and the plurality of upper folding lines and the lower folding lines are in the shape of concentric circles, the center of the concentric circles coincides with the center of the center part.

4. The parachute folding structure for unmanned aerial vehicle express box delivery according to claim 2, characterized in that, A part of the canopy of the parachute is folded into the parachute folding structure, and the part of the canopy not folded is stretched out from around the center part.

5. The parachute folding structure for unmanned aerial vehicle express box delivery according to any one of claims 2 to 4, characterized in that, S1. Place the canopy with the bottom surface upward above the lower mold, and align the center of the canopy with the center mold; 6. A folding method of a parachute for unmanned aerial vehicle delivery box drop, for the parachute folding mold for unmanned aerial vehicle delivery box drop according to claim 1, characterized in that, S2. Place the canopy rope above the canopy along the radial direction of the canopy, and place the part of the canopy rope beyond the edge of the canopy to the center above the center of the canopy; S3. Press each cylindrical mold plate of the upper mold plate group into the slot of the lower mold in turn from the center of the canopy outward, until the upper mold plate group presses the canopy and part of the canopy rope to the bottom of the slot; S4. Take out the upper mold plate group; S5. Take out the lower mold, and complete the folding process. ​

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