Unmanned aerial vehicle putting mechanism, container putting method and unmanned aerial vehicle

Abstract

The invention relates to the field of unmanned aerial vehicles, and provides an unmanned aerial vehicle putting mechanism, a cargo box putting method and an unmanned aerial vehicle. The unmanned aerial vehicle putting mechanism comprises two cargo putting units which are oppositely arranged; each cargo putting unit comprises a fixed support, a rotary supporting plate, a cargo box supporting plate, a power source, a reset unit and a limiting unit. The fixing support fixes the whole mechanism on the unmanned aerial vehicle and fixes the power source and the rotating shaft. The rotary supporting plate rotates to a vertical state when releasing the container; the container supporting plate is used for supporting a container; the power source is used for providing releasing and resetting power; the limiting unit is used for limiting during cargo loading; the reset unit is used for transmitting motion. According to the light multi-rotor unmanned aerial vehicle, a pair of throwing mechanisms is used for working, and the light multi-rotor unmanned aerial vehicle is easy to use, convenient to drop, low in cost, light in weight and high in reliability and meets the logistics transportation requirement of the light multi-rotor unmanned aerial vehicle.

Description

Technical Field

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

[0002] Light and small UAVs have the advantages of fast research and development speed, low production cost, vertical take-off and landing, and fixed-point hovering. They are widely used in the field of civil logistics. With the continuous application of large-load multi-rotor UAVs, the demand for UAVs for food delivery and express delivery is increasing. UAVs with delivery functions can realize intelligent operation, unmanned operation and other operating modes in the field of civil logistics and express delivery, and have extremely high market demand.

[0003] A simple, reliable and lightweight UAV delivery mechanism is of practical urgency. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide a drone delivery mechanism, a cargo box delivery method and a drone.

[0005] The present invention adopts the following technical solution:

[0006] On the one hand, the present invention provides a drone delivery mechanism, comprising two cargo delivery units arranged opposite to each other; each of the cargo delivery units comprises a fixed bracket, a rotating pallet, a cargo box pallet, a power source, a reset unit, and a limit unit;

[0007] The cargo box pallet is arranged on the rotating pallet, and the rotating pallet rotates around a first rotating axis, and is in a cargo loading state when rotated to a horizontal position, and is in a cargo box placing state when rotated to a vertical position; the first rotating axis is arranged on the fixed bracket;

[0008] The power source is used to provide power to the reset unit and the limit unit;

[0009] The reset unit is used to drive the rotating support plate to rotate, so that the rotating support plate is switched between a cargo loading state and a cargo delivery state;

[0010] The limiting unit is used to limit the position of the rotating support plate in a cargo-carrying state;

[0011] The fixed bracket is used to carry the rotating pallet, the cargo box pallet, the power source, the reset unit and the limit unit, and realize the fixed connection between the drone delivery mechanism and the drone.

[0012] As any possible implementation as described above, an implementation is further provided, wherein the power source is a steering gear, the steering gear is a dual-axis steering gear, two steering gear shafts are respectively connected to two steering gear arms, and the two steering gear arms are connected by a steering gear arm connecting rod.

[0013] Any possible implementation as described above, further provides an implementation, wherein the reset unit comprises a reset link, one end of the reset link is connected to the servo arm link, and the other end is connected to the rotating support plate; when the servo is actuated, the servo arm is driven to rotate and drive the reset link to move up and down, and the reset link further drives the rotating support plate to rotate around the first rotation axis.

[0014] Any possible implementation as described above, further provides an implementation, wherein a belt shaft is provided on the rotating pallet, the belt shaft is parallel to the first rotating shaft, the end of the reset link is connected to the belt shaft by a second adjustable slot, and when the delivery mechanism enters the delivery state from the loading state, the reset link needs to move upward, and at this time, two stages of movement are performed, the first stage of movement is an idle movement, the purpose of which is that the reset unit does not perform a delivery action during the unlocking of the limit unit, at this time, the upper slot position of the adjustable slot of the reset link contacts with the belt shaft and moves to the lower slot position and contacts with the belt shaft, and at this time, the rotating pallet does not move; the second stage of movement is the cargo delivery movement, in which the lower slot position of the adjustable slot of the reset link maintains contact with the belt shaft, and the reset link moves around the rotating slot with the belt shaft.

[0015] As any possible implementation described above, there is further provided an implementation, in which a limit block is provided on the rotating pallet for limiting the position of the rotating pallet in a loading state.

[0016] According to any possible implementation described above, there is further provided an implementation, wherein the limiting unit includes an unlocking link, a positioning pin, a spring guide rod, and a compression spring;

[0017] One end of the unlocking link is connected to the servo arm or the servo arm link, and the other end is connected to the positioning pin through the first adjusting groove; a positioning pin groove is arranged on the fixed bracket, and the positioning pin groove is located between the servo and the first rotating shaft, and the positioning pin moves in the positioning pin groove, and the rotation of the servo arm drives the unlocking link to rotate, and the rotational movement of the unlocking link is divided into two sections, the first section is the unlocking movement, at which time the lower groove of the first adjustable groove of the unlocking link contacts the positioning pin, driving the positioning pin to leave the limit position, and the second section is the idle movement, and at this stage the link stores mechanical energy for the compression spring;

[0018] The upper end of the spring guide rod is fixed on the fixed brackets on both sides, and the lower end passes through the positioning pin, and the compression spring is sleeved on the spring guide rod;

[0019] When the servo is in motion, the servo arm is driven to rotate and the unlocking link moves up and down, and the unlocking link further drives the locating pin to move up and down in the locating pin slot; the compression spring expands and contracts as the locating pin moves up and down, and limits the locating pin when it reaches the limit position, and the limit position is located at the bottom of the locating pin slot. When the rotating support plate moves to a horizontal state, the locating pin will move to the bottom of the locating pin slot under the action of the spring force, and at this time, the limit block on the rotating support plate will be blocked by the locating pin and cannot rotate downward.

[0020] As any possible implementation described above, an implementation is further provided, wherein the cargo box pallet is a rectangular plate provided with a plurality of countersunk bolt holes, and the cargo box pallet is fixed to the rotating pallet by a plurality of countersunk bolts passing through the countersunk bolt holes.

[0021] As for any possible implementation described above, an implementation is further provided, wherein a rotating hole, a belt rotating hole and a cargo pallet mounting hole are arranged on the rotating pallet, the first rotating shaft passes through the rotating hole, the belt rotating hole is fixed with a belt rotating shaft by bolts, and the cargo box pallet is mounted on the cargo pallet mounting hole by countersunk bolts.

[0022] Any possible implementation as described above further provides an implementation, wherein the servo is provided with a control signal by a PWM wave, and can also be connected to a host computer via a serial port signal.

[0023] On the other hand, the present invention further provides a drone, which has the above-mentioned drone launching mechanism, and the drone launching mechanism is installed on the bottom of the drone through a fixed bracket.

[0024] On the other hand, the present invention also provides a method for delivering a cargo box by a drone, the method using the above-mentioned drone delivery mechanism, the method comprising:

[0025] S1, cargo reset: the servo receives the cargo command, the servo drives the servo arm to rotate downward, drives the reset link of the reset unit and the unlocking link of the limit unit to move downward, the reset link drives the rotating pallet to rotate to the horizontal cargo position; the unlocking link drives the positioning pin to move downward in the positioning pin groove, when the rotating pallet is close to the horizontal position, the positioning pin moves to the first adjustable groove of the unlocking link, until the limit block passes through the positioning pin guide groove and the positioning pin enters the limit position under the extrusion of the compression spring; at this time, the UAV delivery mechanism resumes the cargo state;

[0026] S2, cargo box delivery: the servo receives the cargo box delivery command, and the servo drives the servo arm to rotate upward; the reset link slides in the second adjustable slot, and the unlocking link drives the positioning pin to leave the locked position. At this time, the reset link moves to the bottom of the second adjustable slot and starts to drive the rotating pallet to rotate until it reaches the vertical position. At this time, the UAV delivery mechanism completes the conversion from the cargo loading state to the delivery state.

[0027] The beneficial effects of the present invention are:

[0028] 1. The present invention meets the demand for light and small multi-rotor drones to drop cargo in the air, and realizes drone aerial delivery. The fixed base, rotating pallet, cargo pallet, connecting rod and other structural components can be made of carbon fiber reinforced composite materials, and the delivery power device uses a mature, low-cost steering gear. The movement mechanism and locking mechanism in the structure have a certain degree of independence, and can achieve rapid mass production and low-cost equipment in production.

[0029] 2. The present invention has high reliability, low cost, long storage life, light weight and wide environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 The figure shows a schematic diagram of the working state of a UAV delivery mechanism according to an embodiment of the present invention; (a) cargo loading state; (b) delivery state.

[0031] Figure 2 Shown is a structural schematic diagram of a UAV delivery mechanism according to an embodiment of the present invention (cargo loading state).

[0032] Figure 3 Shown is a schematic diagram of the structure of the limiting unit in the embodiment.

[0033] Figure 4 Shown is a state schematic diagram (delivery state) of a drone delivery mechanism according to an embodiment of the present invention.

[0034] Figure 5 Shown is a schematic diagram of the relative arrangement of two UAV delivery mechanisms in an embodiment.

[0035] Figure 6 Shown is a schematic diagram of the flow of the drone cargo box delivery method of the embodiment.

[0036] In the figure: 1-fixed bracket, 2-servo, 3-spring guide rod, 4-compression spring, 5-first rotation axis, 6-reset connecting rod, 7-belt rotating shaft, 8-rotating pallet, 9-cargo box pallet, 10-unlocking connecting rod, 11-locating pin, 12-servo arm, 13-cargo pallet mounting hole, 14-belt rotating hole, 15-limiting block. DETAILED DESCRIPTION

[0037] The specific embodiments of the present invention will be described in detail below in conjunction with specific drawings. It should be noted that the technical features or combinations of technical features described in the following embodiments should not be considered isolated, and they can be combined with each other to achieve better technical effects.

[0038] like Figure 1 , Figure 2 As shown, an unmanned aerial vehicle delivery mechanism according to an embodiment of the present invention includes two cargo delivery units (such as Figure 5 As shown); each of the cargo delivery units includes a fixed bracket 1, a rotating pallet 8, a cargo box pallet 9, a power source, a reset unit, and a limit unit;

[0039] The cargo box pallet 9 is arranged on the rotating pallet 8, and the rotating pallet 8 rotates around the first rotating shaft 5, and is in a cargo loading state when it rotates to a horizontal position, and is in a cargo box delivery state when it rotates to a vertical position; the first rotating shaft 5 is arranged on the fixed bracket 1;

[0040] The power source is used to provide power to the reset unit and the limit unit;

[0041] The reset unit is used to drive the rotating support plate 8 to rotate, so that the rotating support plate 8 is switched between a cargo loading state and a cargo delivery state;

[0042] The limiting unit is used to limit the rotating support plate 8 in the cargo loading state;

[0043] The fixed bracket 1 is used to carry the rotating pallet 8, the cargo box pallet 9, the power source, the reset unit and the limit unit, and realize the fixed connection between the drone delivery mechanism and the drone.

[0044] In a specific embodiment, the power source is a steering gear 2, and the steering gear 2 is a dual-axis steering gear. Two steering gear shafts are respectively connected to two steering gear arms 12, and the two steering gear arms 12 are connected through a steering gear arm connecting rod.

[0045] In a specific embodiment, Figure 2 As shown, the reset unit includes a reset link 6, one end of which is connected to the servo arm link, and the other end is connected to the rotating support plate 8; when the servo 2 is in motion, the servo arm 12 is driven to rotate and drive the reset link 6 to move up and down, and the reset link 6 further drives the rotating support plate 8 to rotate around the first rotating axis 5.

[0046] In a specific embodiment, a belt shaft 7 is provided on the rotating support plate 8 , and the belt shaft 7 is parallel to the first rotating shaft 5 , and an end of the reset link 6 is connected to the belt shaft 7 via a second adjustable groove.

[0047] In a specific embodiment, Figure 2 , Figure 3 As shown, the limiting unit includes an unlocking link 10, a positioning pin 11, a spring guide rod 3, and a compression spring 4;

[0048] One end of the unlocking link 10 is connected to the servo arm 12 or the servo arm link, and the other end is connected to the positioning pin 11 through the first adjustment slot; a positioning pin slot is provided on the fixing bracket 1, and the positioning pin slot is located between the servo 2 and the first rotating shaft 5, and the positioning pin 11 moves in the positioning pin slot;

[0049] The spring guide rod 3 is in a Π shape, with the upper cross bar fixed to the fixed brackets 1 on both sides by bolts, and two compression springs 4 passing through the two vertical guide rods at the lower end, and the positioning pin 11 is inserted into the lower end of the compression spring 4;

[0050] When the servo 2 is in motion, the servo arm 12 is driven to rotate and drive the unlocking link 10 to move up and down, and the unlocking link 10 further drives the positioning pin 11 to move up and down in the positioning pin groove; the compression spring 4 expands and contracts as the positioning pin 11 moves up and down, and limits the positioning pin 11 when it reaches the limit position.

[0051] In a specific embodiment, the cargo box pallet 9 is a rectangular plate provided with a plurality of countersunk bolt holes, and the cargo box pallet 9 is fixed to the rotating pallet 8 by a plurality of countersunk bolts passing through the countersunk bolt holes.

[0052] In a specific embodiment, Figure 3 As shown, a rotating hole, a belt rotation hole 14 and a cargo pallet mounting hole 13 are provided on the rotating pallet 8, the first rotating shaft 5 passes through the rotating hole, the belt rotation hole 14 is fixed to the belt rotation shaft 7 by bolts, and the cargo box pallet 9 is mounted on the cargo pallet mounting hole 13 by countersunk bolts.

[0053] In a specific embodiment, Figure 3 As shown, a limit block 15 is provided on the rotating support plate 8 for limiting the position of the rotating support plate 8 in a loading state.

[0054] In a specific embodiment, the servo 2 provides control signals via PWM waves and is connected to a host computer via serial port signals.

[0055] An embodiment of the present invention provides a drone, which has the above-mentioned drone launching mechanism, and the drone launching mechanism is installed on the bottom of the drone through a fixing bracket 1.

[0056] like Figure 6As shown, an embodiment of the present invention provides a method for delivering a cargo box by a drone, the method using the above-mentioned drone delivery mechanism, and the method comprising:

[0057] S1. Cargo reset: The servo 2 receives the cargo command, and the servo 2 drives the servo arm 12 to rotate downward, driving the reset link 6 of the reset unit and the unlocking link 10 of the limit unit to move downward, and the reset link 6 drives the rotating support plate 8 to rotate toward the horizontal cargo position; the unlocking link 10 drives the positioning pin 11 to move downward in the positioning pin groove, and when the rotating support plate 8 is close to the horizontal position, the positioning pin 11 moves into the first adjustable groove of the unlocking link 10, until the limit block 15 passes through the positioning pin guide groove and the positioning pin 11 enters the limit position under the extrusion of the compression spring 4; at this time, the UAV delivery mechanism resumes the cargo state;

[0058] S2, cargo box delivery: the steering gear 2 receives the cargo box delivery command, and the steering gear 2 drives the steering gear arm 12 to rotate upward; the reset link 6 slides in the second adjustable slot, and the unlocking link 10 drives the positioning pin 11 to leave the locked position. At this time, the reset link 6 moves to the bottom of the second adjustable slot and starts to drive the rotating support plate 8 to rotate until it reaches the vertical position. At this time, the UAV delivery mechanism completes the conversion from the cargo loading state to the delivery state, such as Figure 4 shown.

[0059] The present invention uses a pair of delivery mechanisms to work, and has the advantages of simple use, convenient airdrop, low cost, light weight and high reliability, and meets the logistics and transportation needs of light multi-rotor drones.

[0060] Although several embodiments of the present invention have been given herein, those skilled in the art should understand that the embodiments of the present invention may be modified without departing from the spirit of the present invention. The above embodiments are merely exemplary and should not be used as a limitation on the scope of the present invention.

Claims

1. A drone delivery mechanism, characterized in that: The drone delivery mechanism includes two cargo delivery units arranged opposite to each other; each cargo delivery unit includes a fixed bracket, a rotating pallet, a cargo box pallet, a power source, a reset unit, and a limit unit; The cargo box pallet is arranged on the rotating pallet, and the rotating pallet rotates around a first rotating axis, and is in a cargo loading state when rotated to a horizontal position, and is in a cargo box placing state when rotated to a vertical position; the first rotating axis is arranged on the fixed bracket; The power source is used to provide power to the reset unit and the limit unit; The reset unit is used to drive the rotating support plate to rotate, so that the rotating support plate is switched between a cargo loading state and a cargo delivery state; The limiting unit is used to limit the position of the rotating support plate in a cargo-carrying state; The fixed bracket is used to carry the rotating pallet, the cargo box pallet, the power source, the reset unit and the limit unit, and realize the fixed connection between the drone delivery mechanism and the drone.

2. The drone delivery mechanism according to claim 1, characterized in that: The power source is a steering gear, and the steering gear is a double-axis steering gear. Two steering gear rotating shafts are respectively connected to two steering gear arms, and the two steering gear arms are connected through a steering gear arm connecting rod.

3. The drone delivery mechanism according to claim 2, characterized in that: The reset unit includes a reset link, one end of which is connected to the servo arm link, and the other end is connected to the rotating support plate; when the servo is in motion, the servo arm is driven to rotate and drive the reset link to move up and down, and the reset link further drives the rotating support plate to rotate around the first rotation axis.

4. The drone delivery mechanism according to claim 3, characterized in that: The rotating support plate is provided with a belt shaft, the belt shaft is parallel to the first rotating axis, and the end of the reset connecting rod is connected to the belt shaft via a second adjustable slot.

5. The UAV delivery mechanism according to claim 2, characterized in that: The limiting unit includes an unlocking connecting rod, a positioning pin, a spring guiding rod, and a compression spring; One end of the unlocking link is connected to the servo arm or the servo arm link, and the other end is connected to the positioning pin through a first adjustment slot; a positioning pin slot is provided on the fixing bracket, the positioning pin slot is located between the servo and the first rotating shaft, and the positioning pin moves in the positioning pin slot; The upper end of the spring guide rod is fixed on the fixed bracket, and the lower end passes through the positioning pin, and the compression spring is sleeved on the spring guide rod; When the servo is in motion, the servo arm is driven to rotate and the unlocking link is driven to move up and down, and the unlocking link further drives the locating pin to move up and down in the locating pin slot; the compression spring expands and contracts as the locating pin moves up and down, and limits the locating pin when it reaches the limit position.

6. The UAV delivery mechanism according to claim 2, characterized in that: The cargo box pallet is a rectangular plate provided with a plurality of countersunk bolt holes, and the cargo box pallet is fixed to the rotating pallet by a plurality of countersunk bolts passing through the countersunk bolt holes.

7. The drone delivery mechanism according to claim 2, characterized in that: A rotating hole, a cargo pallet mounting hole and a limit block are provided on the rotating pallet, the first rotating shaft passes through the rotating hole, the cargo box pallet is mounted on the cargo pallet mounting hole by countersunk bolts, and the limit block is used to limit the rotating pallet in a loading state.

8. The drone delivery mechanism according to claim 2, characterized in that: The servo motor is provided with a control signal by a PWM wave and is connected to a host computer via a serial port signal.

9. A drone, characterized in that: The drone has a drone launching mechanism as described in any one of claims 1 to 8, and the drone launching mechanism is installed at the bottom of the drone through a fixed bracket.

10. A method for delivering cargo boxes from a drone, characterized in that: The method uses the drone delivery mechanism according to any one of claims 2 to 8, and the method comprises: S1, cargo reset: the servo receives the cargo command, the servo drives the servo arm to rotate downward, drives the reset link of the reset unit and the unlocking link of the limit unit to move downward, the reset link drives the rotating pallet to rotate to the horizontal cargo position; the unlocking link drives the positioning pin to move downward in the positioning pin slot, when the rotating pallet is close to the horizontal position, the positioning pin moves to the first adjustable slot of the unlocking link, until the limit block passes through the positioning pin slot and the positioning pin enters the limit position under the extrusion of the compression spring; at this time, the UAV delivery mechanism resumes the cargo state; S2, cargo box delivery: the servo receives the cargo box delivery command, and the servo drives the servo arm to rotate upward; the reset link slides in the second adjustable slot, and the unlocking link drives the positioning pin to leave the locked position. At this time, the reset link moves to the bottom of the second adjustable slot and starts to drive the rotating pallet to rotate until it reaches the vertical position. At this time, the UAV delivery mechanism completes the conversion from the cargo loading state to the delivery state.

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