Light and small 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 a light and small unmanned aerial vehicle putting mechanism, a container putting method and an unmanned aerial vehicle, the light and small unmanned aerial vehicle putting mechanism comprises a fixed bracket, a rotary supporting plate, a container supporting plate, a steering engine, a limiting unit and a connecting rod; the fixing support fixes the whole mechanism on the unmanned aerial vehicle and fixes the steering engine 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 steering engine is used for providing releasing and resetting power; the limiting bolts are used for limiting during cargo loading; the link 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 a light and small 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 shortcomings of the prior art and provide a light and small UAV delivery mechanism, a cargo box delivery method and a UAV.

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

[0006] On the one hand, the present invention provides a light and small UAV 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 steering gear, a limit unit and a connecting rod;

[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 connecting rod 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;

[0009] The steering gear is used to provide power to drive the connecting rod to move up and down, thereby driving the rotating support plate to rotate;

[0010] The limiting unit is used to limit the rotating support plate;

[0011] The fixed bracket is used to carry the rotating pallet, the cargo box pallet, the steering gear, the connecting rod and the limit unit, and realize the fixed connection between the light and small UAV delivery mechanism and the UAV.

[0012] Any possible implementation as described above, further provides an implementation, wherein the servo is provided with a straight servo arm, the servo is mounted on the fixed bracket, a convex bracket is provided on the fixed bracket, a straight belt swivel arm is provided at the front end of the straight servo arm, one end of the straight belt swivel arm is fixed on the straight servo arm, and the other end passes through a bearing, and the bearing is provided on the convex bracket.

[0013] Any possible implementation as described above further provides an implementation in which the servo is provided with a control signal by a PWM wave, and preferably can be controlled by a serial port signal.

[0014] As described above in any possible implementation, an implementation is further provided, in which a limiting bolt groove is provided on the fixed bracket between the steering gear and the first rotating shaft to provide a limiting effect for the movement of the steering gear.

[0015] Any possible implementation as described above, further provides an implementation, wherein the connecting rod includes a small connecting rod and a rotating connecting rod, one end of the small connecting rod is connected to the one-line belt rotating arm, and the other end is connected to one end of the rotating connecting rod, and the other end of the rotating connecting rod is connected to the rotating support plate.

[0016] As any possible implementation described above, an implementation is further provided, wherein a belt shaft is provided on the rotating support plate, the belt shaft is parallel to the first rotating shaft, and the other end of the rotating connecting rod is connected to the belt shaft.

[0017] As any possible implementation described above, there is further provided an implementation, wherein the rotating connecting rod is composed of a straight connecting rod and a Z-shaped connecting rod.

[0018] As any possible implementation described above, an implementation is further provided, wherein the limiting unit is a limiting bolt, and the limiting bolt is arranged on the convex bracket, and the limiting bolt limits the rotation position of the small connecting rod, thereby limiting the position of the rotating support plate.

[0019] As any possible implementation described above, a further implementation is provided, in which the small connecting rod and the rotating connecting rod are 170 degrees, and the connecting rod is then pushed toward the limit bolt by force, thereby ensuring the locking of the mechanism.

[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 any possible implementation described above, an implementation is further provided, wherein a rotating hole and a cargo pallet mounting hole are provided on the rotating pallet, the first rotating shaft passes through the rotating hole, and the cargo box pallet is mounted on the cargo pallet mounting hole by means of countersunk bolts.

[0022] On the other hand, the present invention also provides a UAV, which has the above-mentioned light and small UAV delivery mechanism, and the light and small UAV delivery mechanism is installed at the bottom of the UAV fuselage through a fixed bracket.

[0023] 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 light and small drone delivery mechanism, the method comprising:

[0024] S1. Cargo reset: The servo receives the cargo command, and the servo drives the straight servo arm to rotate. The torque of the straight servo arm is transmitted to the small connecting rod through the straight belt rotating arm, driving the small connecting rod to rotate downward, and then driving the rotating connecting rod connected to the small connecting rod to rotate downward, and the rotating support plate connected to the rotating connecting rod rotates from the vertical position to the horizontal cargo position; the small connecting rod rotates to the limit bolt and is limited to stop, and the light small UAV delivery mechanism resumes the cargo state;

[0025] S2. Cargo box delivery: the servo receives the cargo box delivery command, and the servo drives the straight-line servo arm to rotate in the opposite direction. The torque of the straight-line servo arm is transmitted to the small connecting rod through the straight-line belt rotating arm, driving the small connecting rod to rotate upward, and then driving the rotating connecting rod connected to the small connecting rod to move upward, and the rotating pallet connected to the rotating connecting rod rotates from the horizontal loading position to the vertical delivery position. At this time, the light small UAV delivery mechanism completes the conversion from the loading state to the delivery state.

[0026] Any possible implementation as described above further provides an implementation in which the small connecting rod moves to a limit position, and the restraining force is kept stable by the small connecting rod and the rotating connecting rod moving to 10° (ie 170°) beyond the dead point position.

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

[0028] 1. The present invention can greatly improve the torque bias problem of the single lever arm of the servo, thereby simplifying the overall structure of the launching mechanism.

[0029] 2. 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, the delivery power device uses a mature, low-cost steering gear, and the structure uses a limit mechanism to limit the position, which can achieve rapid mass production and low-cost equipment in production.

[0030] 3. The present invention has high reliability, low cost, long storage life, light weight and wide environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Shown is a schematic diagram of a light and small UAV delivery mechanism according to an embodiment of the present invention; (a) left view; (b) front view.

[0032] Figure 2 Shown is a structural schematic diagram of a light and small UAV delivery mechanism according to an embodiment of the present invention (cargo loading state).

[0033] Figure 3 Shown is a state schematic diagram (delivery state) of a light and small UAV delivery mechanism according to an embodiment of the present invention.

[0034] Figure 4 Shown is a schematic diagram of the relative arrangement of two drone delivery mechanisms in an embodiment (cargo loading state).

[0035] Figure 5 Shown is a schematic flow chart of a method for delivering cargo boxes from a drone according to an embodiment.

[0036] In the figure: 1-fixed bracket, 2-convex bracket, 3-servo, 4-slotted servo arm, 5-rotating connecting rod, 6-cargo box pallet, 7-rotating pallet, 8-limiting bolt, 9-small connecting rod, 10-slotted belt rotating arm. 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 , Figure 3 As shown, a light and small UAV delivery mechanism according to an embodiment of the present invention comprises two cargo delivery units arranged opposite to each other; each of the cargo delivery units comprises a fixed bracket 1, a rotating support plate 7, a cargo box support plate 6, a steering gear 3, a limit unit and a connecting rod;

[0039] The cargo box pallet 6 is arranged on the rotating pallet 7, and the rotating pallet 7 rotates around a first rotating axis, and is in a cargo loading state when it rotates to a horizontal position, and is in a cargo box placing state when it rotates to a vertical position; the first rotating axis is arranged on the fixed bracket 1;

[0040] The connecting rod is used to drive the rotating support plate 7 to rotate, so that the rotating support plate 7 is switched between a cargo loading state and a cargo delivery state;

[0041] The steering gear 3 is used to provide power to drive the connecting rod to move up and down, thereby driving the rotating support plate 7 to rotate;

[0042] The limiting unit is used to limit the rotating support plate 7;

[0043] The fixed bracket 1 is used to carry the rotating pallet 7, the cargo box pallet 6, the steering gear 3, the connecting rod and the limit unit, and realize the fixed connection between the light and small UAV delivery mechanism and the UAV.

[0044] In a specific embodiment, Figure 2 As shown, the servo 3 is provided with a straight servo arm 4, and the servo 3 is installed on the fixed bracket 1, and a convex bracket 2 is provided on the fixed bracket 1. A straight belt rotating arm 10 is provided at the front end of the straight servo arm 4, and one end of the straight belt rotating arm 10 is fixed on the straight servo arm 4, and the other end passes through a bearing, and the bearing is provided on the convex bracket 2.

[0045] In a specific embodiment, the steering gear 3 is provided with a control signal by a PWM wave, and can preferably be controlled by a serial port signal.

[0046] In a specific embodiment, the fixing bracket 1 is provided with a limiting bolt groove between the steering gear 3 and the first rotating shaft to provide a limiting effect for the movement of the steering gear 3 .

[0047] In a specific embodiment, Figure 2 As shown, the connecting rod includes a small connecting rod 9 and a rotating connecting rod 5, one end of the small connecting rod 9 is connected to the straight belt rotating arm 10, and the other end is connected to one end of the rotating connecting rod 5, and the other end of the rotating connecting rod 5 is connected to the rotating support plate 7.

[0048] In a specific embodiment, a belt shaft is provided on the rotating support plate 7, the belt shaft is parallel to the first rotating axis, and the other end of the rotating connecting rod 5 is connected to the belt shaft. When the rotating connecting rod 5 moves up and down, the rotating support plate 7 is driven to rotate around the first rotating axis through the belt shaft.

[0049] In a specific embodiment, the rotating connecting rod 5 is composed of a straight connecting rod and a Z-shaped connecting rod.

[0050] In a specific embodiment, Figure 2 , Figure 3 As shown, the limiting unit is a limiting bolt 8 , and the limiting bolt 8 is arranged on the convex bracket 2 . The limiting bolt 8 limits the rotation position of the small connecting rod 9 , thereby limiting the position of the rotating support plate 7 .

[0051] In a specific embodiment, the small connecting rod 9 and the rotating connecting rod 5 are arranged at 170 degrees. At this time, the connecting rod is pushed toward the limiting bolt 8 by the force, thereby ensuring the locking of the mechanism.

[0052] In a specific embodiment, the cargo box pallet 6 is a rectangular plate provided with a plurality of countersunk bolt holes, and the cargo box pallet 6 is fixed to the rotating pallet 7 by a plurality of countersunk bolts passing through the countersunk bolt holes.

[0053] In a specific embodiment, a rotating hole and a cargo pallet mounting hole are provided on the rotating pallet 7, the first rotating shaft passes through the rotating hole, and the cargo box pallet 6 is mounted on the cargo pallet mounting hole by means of countersunk bolts.

[0054] On the other hand, the present invention also provides a drone, the drone has the above-mentioned light and small drone delivery mechanism, and the light and small drone delivery mechanism is installed at the bottom of the drone body through a fixing bracket 1. Figure 4 shown.

[0055] On the other hand, Figure 5 As shown, the present invention also provides a method for delivering a cargo box by a drone, the method using the above-mentioned light and small drone delivery mechanism, the method comprising:

[0056] S1. Cargo reset: The steering gear 3 receives the cargo command, and the steering gear 3 drives the straight steering gear arm 4 to rotate. The torque of the straight steering gear arm 4 is transmitted to the small connecting rod 9 through the straight belt rotating arm 10, driving the small connecting rod 9 to rotate downward, and then driving the rotating connecting rod 5 connected to the small connecting rod 9 to rotate downward, and the rotating support plate 7 connected to the rotating connecting rod 5 rotates from the vertical position to the horizontal cargo position; the small connecting rod 9 rotates to the limit bolt 8 and is limited to stop, and the light small UAV delivery mechanism resumes the cargo state;

[0057] S2. Cargo box delivery: the servo 3 receives the cargo box delivery instruction, and the servo 3 drives the straight-line servo arm 4 to rotate in the opposite direction. The torque of the straight-line servo arm 4 is transmitted to the small connecting rod 9 through the straight-line belt rotating arm 10, driving the small connecting rod 9 to rotate upward, and then driving the rotating connecting rod 5 connected to the small connecting rod 9 to move upward, and the rotating pallet 7 connected to the rotating connecting rod 5 rotates from the horizontal loading position to the vertical delivery position. At this time, the light small UAV delivery mechanism completes the conversion from the loading state to the delivery state.

[0058] In a specific embodiment, the small connecting rod 9 moves to the limit position, and the restraining force of the small connecting rod 9 and the rotating connecting rod 5 after moving to 10° (ie, 170°) beyond the dead point position remains stable.

[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 can meet 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 light and small UAV delivery mechanism, characterized in that: The light and small UAV 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 steering gear, a limit unit and a connecting rod; 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 connecting rod 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 steering gear is used to provide power to drive the connecting rod to move up and down, thereby driving the rotating support plate to rotate; The limiting unit is used to limit the rotating support plate; The fixed bracket is used to carry the rotating pallet, the cargo box pallet, the steering gear, the connecting rod and the limit unit, and realize the fixed connection between the light and small UAV delivery mechanism and the UAV.

2. The light and small UAV delivery mechanism according to claim 1, characterized in that: The servo is provided with a straight servo arm, the servo is mounted on the fixed bracket, a convex bracket is provided on the fixed bracket, a straight belt rotating arm is provided at the front end of the straight servo arm, one end of the straight belt rotating arm is fixed on the straight servo arm, and the other end passes through a bearing, and the bearing is provided on the convex bracket.

3. The light and small UAV delivery mechanism according to claim 1 or 2, characterized in that: The connecting rod comprises a small connecting rod and a rotating connecting rod, one end of the small connecting rod is connected to the straight belt rotating arm, and the other end is connected to one end of the rotating connecting rod, and the other end of the rotating connecting rod is connected to the rotating supporting plate.

4. The light and small UAV 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 shaft, and the other end of the rotating connecting rod is connected to the belt shaft.

5. The light and small UAV delivery mechanism as claimed in claim 3, characterized in that: The rotating connecting rod is composed of a straight connecting rod and a Z-shaped connecting rod.

6. The light and small UAV delivery mechanism as claimed in claim 3, characterized in that: The limiting unit is a limiting bolt, and the limiting bolt is arranged on the convex bracket. The limiting bolt limits the rotation position of the small connecting rod, thereby limiting the position of the rotating support plate.

7. The light and small UAV delivery mechanism according to claim 1, 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.

8. The light and small UAV delivery mechanism according to claim 1, characterized in that: A rotating hole and a cargo pallet mounting hole are arranged on the rotating pallet, the first rotating shaft passes through the rotating hole, and the cargo box pallet is mounted on the cargo pallet mounting hole by means of countersunk bolts.

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

10. A method for delivering cargo boxes from a drone, characterized in that: The method uses the light and small UAV delivery mechanism according to any one of claims 2 to 8, and the method comprises: S1. Cargo reset: The servo receives the cargo command, and the servo drives the straight servo arm to rotate. The torque of the straight servo arm is transmitted to the small connecting rod through the straight belt rotating arm, driving the small connecting rod to rotate downward, thereby driving the rotating connecting rod connected to the small connecting rod to move downward, and the rotating support plate connected to the rotating connecting rod rotates from the vertical position to the horizontal cargo position; the small connecting rod rotates to the limit bolt and is stopped by the limit, and the light small UAV delivery mechanism resumes the cargo state; S2. Cargo box delivery: the servo receives the cargo box delivery command, and the servo drives the straight-line servo arm to rotate in the opposite direction. The torque of the straight-line servo arm is transmitted to the small connecting rod through the straight-line belt rotating arm, driving the small connecting rod to rotate upward, and then driving the rotating connecting rod connected to the small connecting rod to rotate upward, and the rotating pallet connected to the rotating connecting rod rotates from the horizontal loading position to the vertical delivery position. At this time, the light small UAV delivery mechanism completes the conversion from the loading state to the delivery state.

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