Unmanned aerial vehicle mounted vertical delivery device

Abstract

The application discloses a vertical delivery device for unmanned aerial vehicle, which comprises a vertical accommodating cylinder, a plurality of moving limiting blocks are circumferentially and spacedly arranged on the lower outer wall of the accommodating cylinder, a plurality of slots corresponding to the moving limiting blocks are arranged on the side wall of the accommodating cylinder, the moving limiting blocks are connected to a synchronous transmission mechanism, the synchronous transmission mechanism drives the moving limiting blocks to synchronously and radially expand and contract at the slots, the vertical delivery device comprises a rotating ring coaxially sleeved outside the accommodating cylinder, a plurality of guide inclined grooves are equiangularly arranged on the circumferential end face of the rotating ring, the guide inclined grooves form a preset inclination angle with the radial plane of the rotating ring, guide pins are fixedly connected to the outer end of the moving limiting blocks, the guide pins are embedded in the guide inclined grooves, and the rotating ring drives the plurality of moving limiting blocks to cooperatively expand and contract along the radial direction of the accommodating cylinder. The vertical delivery device simplifies a delivery release mechanism, reduces the number of components, improves reliability and environmental adaptability, and provides a high-reliability solution for precise delivery tasks of unmanned aerial vehicles.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle load mounting and delivery, and particularly relates to an unmanned aerial vehicle mounting vertical delivery device. BACKGROUND

[0002] The mainstream technical solutions of the current unmanned aerial vehicle mounting device can be divided into mounting cabin type and mounting hook type, but both have significant defects, which are specifically as follows:

[0003] The mounting cabin type device: 1) adopts a closed cabin structure, and a mechanical push rod or a folding door is arranged inside to realize delivery, the transmission chain is long and the number of components is large, resulting in high manufacturing and maintenance costs; 2) the size of the cabin is fixed, and there is a poor compatibility problem for irregular or oversized articles, which easily causes jamming and even damage to the mechanism; 3) the overall weight occupies a high proportion of the effective payload of the unmanned aerial vehicle, which seriously restricts the endurance and mission flexibility; 4) the exposed mechanical parts are easily affected by the environment, and sand and rain easily invade to cause transmission failure, which has insufficient environmental adaptability; 5) the delivery process depends on the coupling control of the opening speed of the cabin door and the hovering state of the unmanned aerial vehicle, and the landing point deviation is large, which is difficult to meet the precise delivery demand. The mounting hook type device: 1) the article is fixed by an electromagnet or a mechanical buckle, and the suspension state is significantly affected by air flow disturbance, which easily causes attitude instability of the unmanned aerial vehicle; 2) the mounting and release need to be operated by a person in close proximity, and the degree of automation is low, and the practicability is limited in high-risk environments; 3) only "loose type" delivery can be realized, and there is a lack of precise control, which is only suitable for simple and low-demand delivery tasks.

[0004] In addition, the mechanical switch or single-path controlled bin door design in the prior art generally has problems such as single function and fixed action logic, and cannot realize multi-unit independent control or time-sharing delivery. SUMMARY

[0005] In view of the problems in the prior art, the present application provides an unmanned aerial vehicle mounting vertical delivery device which is simple in structure, light in weight, high in reliability and suitable for various mission scenarios.

[0006] The technical scheme adopted by the present application is as follows: the unmanned aerial vehicle is mounted with a vertical dropping device, which comprises a vertically arranged containing cylinder, a plurality of moving limiting blocks are uniformly and circumferentially arranged on the outer wall of the lower part of the containing cylinder, a slot corresponding to the moving limiting blocks is arranged on the side wall of the containing cylinder, and the moving limiting blocks are commonly connected to a synchronous transmission mechanism; the synchronous transmission mechanism is used for driving each moving limiting block to synchronously expand and contract radially at the slot, and the synchronous transmission mechanism comprises a rotating ring coaxially sleeved outside the containing cylinder and a driving assembly used for driving the rotating ring to reciprocatingly rotate by a set angle, a plurality of guide inclined grooves are equally and angularly arranged on the circumferential end face of the rotating ring, and the guide inclined grooves form a preset inclination angle with the radial plane of the rotating ring; a guide pin shaft is fixedly connected to the outer side end of the moving limiting block, the guide pin shaft is embedded in the guide inclined groove, and the guide inclined groove and the guide pin shaft produce relative movement when the rotating ring rotates, so as to realize the coordinated expansion and contraction action of the plurality of moving limiting blocks along the radial direction of the containing cylinder.

[0007] Further, at least two arc-shaped guide rail grooves are circumferentially and spaced apart on the rotating ring, the curvature centers of the arc-shaped guide rail grooves coincide with the rotation axis of the rotating ring, a cylindrical positioning pin is matched and arranged in the arc-shaped guide rail groove, and the positioning pin is fixedly installed on a fixed base body and embedded in the arc-shaped guide rail groove of the rotating ring to form a sliding pair.

[0008] Further, the outer side of the moving limiting block is further provided with a guide base which is in sliding cooperation with the moving limiting block, the guide base is fixedly installed on the fixed base body, a linear sliding groove is arranged on the guide base along the radial direction of the containing cylinder, and the guide pin shaft of the moving limiting block penetrates through the linear sliding groove to form a sliding pair.

[0009] Further, the unmanned aerial vehicle mounting vertical dropping device is arranged in pairs, a driving device is installed between the two unmanned aerial vehicle mounting vertical dropping devices, the containing cylinders of the two dropping devices are arranged in mirror symmetry, each rotating ring is rotatably connected to a connecting rod through a pin shaft, the other end of the connecting rod is provided with a strip-shaped groove extending along the length direction, the output end of the driving device is connected to a driving rod, the driving rod simultaneously penetrates through the strip-shaped grooves on the two connecting rods, and the length of the strip-shaped groove satisfies that when the driving rod pushes one of the connecting rods to move, the driving rod produces relative sliding displacement in the strip-shaped groove of the other connecting rod.

[0010] Further, the driving device is any one of a rudder, an electromagnetic controller, a hydraulic or pneumatic cylinder, and a linear push rod motor.

[0011] Further, the vertical dropping device further comprises a protective shell fixedly installed on the center plate of the unmanned aerial vehicle, the containing cylinder is fixedly installed in the protective shell, a dropping opening corresponding to the inner cavity of the containing cylinder is arranged on the protective shell, and a closed cavity is formed between the protective shell and the outer wall of the containing cylinder.

[0012] The beneficial effects of the present application are:

[0013] (1) By the integrated design of the synchronous transmission mechanism, the complex structure of traditional multi-motor separate control is simplified to single driving source (driving rudder) controlling multiple moving limit blocks to act cooperatively, greatly reducing the number of components and transmission chain levels, reducing manufacturing cost and maintenance difficulty;

[0014] (2) By the synchronous radial expansion of multiple moving limit blocks, stable release of the mounted object can be achieved, supporting the mounting of the mounted object up and down, guiding the vertical falling of the mounted object, and realizing precise delivery;

[0015] (3) The inner cavity of the containing cylinder has no built-in mechanical constraint, and the mounted object is only fixed by the annular supporting platform formed by multiple moving limit blocks, avoiding the redundant weight caused by the traditional cabin full wrapping structure, and at the same time, it can adapt to different sizes and shapes of the mounted object, and the compatibility is significantly better than that of the traditional rigid cabin;

[0016] (4) The symmetric double layout is adopted, and through the floating connection structure of the driving rod and the strip-shaped groove, the control of a single driving rudder on two sets of delivery devices is realized, which can support single-sided independent delivery, double-sided synchronous delivery and time sequence delivery in multiple modes without increasing the driving components, meeting the multi-target and multi-batch delivery requirements;

[0017] (5) The closed cavity design of the protective shell completely isolates the driving execution mechanism (moving limit block, transmission component) from the external environment, which can effectively resist sand invasion, rain erosion and electromagnetic interference, and is suitable for high altitude, desert, coastal and other harsh working conditions;

[0018] (6) The overall structure is simple and compact, which reduces the overall weight and significantly improves the payload capacity and endurance time of the unmanned aerial vehicle. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective structural schematic diagram of embodiment 1 of the present application.

[0020] Figure 2 is a top view structural schematic diagram of embodiment 1 of the present application.

[0021] Figure 3 is a structural schematic diagram of the moving limit block and the guide base cooperating with the present application.

[0022] Figure 4 is a structural schematic diagram of embodiment 2 of the present application.

[0023] Figure 5 is a structural schematic diagram of embodiment 3 of the present application. DETAILED DESCRIPTION

[0024] The following is a clear and complete description of the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts are within the scope of protection of the present invention.

[0025] Example 1

[0026] like Figures 1-3 As shown, the drone mount vertical release device of this embodiment includes a vertically arranged cylindrical receiving tube 1. The lower outer wall of the receiving tube 1 is evenly spaced circumferentially with multiple movable stoppers 2. In this embodiment, there are four movable stoppers 2. The sidewalls of the receiving tube 1 are provided with notches corresponding to the movable stoppers 2. The multiple movable stoppers 2 are connected to a synchronous transmission mechanism. The synchronous transmission mechanism is used to drive the movable stoppers 2 to achieve synchronous radial displacement at the notches, so that each movable stopper 2 extends into the inner cavity of the receiving tube 1 to form a support platform to support the bottom edge of the mount. The synchronous radial outward withdrawal of each movable stopper 2 releases the restraint on the mount, achieving vertical release of the mount. The synchronous transmission mechanism includes a rotating ring 3 coaxially mounted on the outer side of the receiving tube 1 and a drive assembly that drives the rotating ring to reciprocate at a set angle. A plurality of guide bevels 4 are formed at equal angles on the circumferential end surface of the rotating ring 3, forming a predetermined inclination angle with the radial plane of the rotating ring 3. A guide pin 5 is fixedly connected to the outer end of the movable stopper 2 and embedded in the guide chute 4. When the drive assembly rotates around the axis of the accommodating tube, the guide chute 4 and the guide pin 5 generate relative motion. The groove wall constrains the guide pin 5, converting the circumferential rotation of the rotating ring 3 into synchronized radial displacement of the movable stopper 2, thereby achieving coordinated extension and retraction of the multiple movable stoppers 2 along the radial direction of the accommodating tube. This structure achieves multi-point synchronous locking using a single power source, ensuring stable and reliable payload release.

[0027] In this embodiment, at least two arcuate guide grooves 6 (four in this embodiment) are circumferentially spaced apart on the rotating ring 3. The center of curvature of each arcuate guide groove 6 coincides with the rotation axis of the rotating ring 3. A cylindrical locating pin 7 is positioned within each arcuate guide groove 6. This locating pin 7 is fixedly mounted on a fixed base and engages within the arcuate guide groove 6 of the rotating ring 3, forming a sliding pair. When the drive assembly rotates the rotating ring 3 about the axis of the accommodating cylinder, the locating pin 7 comes into sliding contact with the walls of the arcuate guide groove 6. This constraint of the locating pin 7 ensures that the rotating ring 3 rotates smoothly and only along a predetermined circumferential trajectory, effectively improving the rotating ring 3's motion accuracy and ability to resist off-center loads.

[0028] In this embodiment, the movable stopper 2 is further provided with a guide base 8 that slidably engages with it. This guide base 8 is fixedly mounted on the fixed base. A linear slot is defined in the guide base 8 along the radial direction of the accommodating tube 1. The guide pin 5 of the movable stopper 2 extends through the linear slot, forming a sliding pair. When the rotating ring 3 drives the movable stopper 2 to move radially, the sidewalls of the linear slot contact the guide pin 5, restricting the movable stopper 2's freedom in non-radial directions and forcing it to perform purely radial telescopic motion along a pre-set linear trajectory. This eliminates the risk of deflection and jamming of the movable stopper 2 during movement, ensuring the geometric consistency and dynamic stability of the synchronized motion of multiple groups of stopper units.

[0029] Example 2

[0030] like Figure 4 As shown, the difference between this embodiment and Example 1 is that the drone-mounted vertical delivery devices are arranged in groups of two, with a servo 11 installed between the two drone-mounted vertical delivery devices. The two delivery devices' receiving tubes 1 are arranged in mirror-symmetrical configurations. Each rotating ring 3 is rotatably connected to a connecting rod 9 via a pin. The other end of the connecting rod 9 is provided with a strip groove 10 extending along the length. The output end of the servo 11 is connected to a drive rod, which passes through the strip grooves 10 on both connecting rods 9 at the same time. The length of the strip groove 10 is sufficient to ensure that when the drive rod pushes one connecting rod 9 to move, the drive rod produces relative sliding displacement within the strip groove 10 of the other connecting rod 9. This symmetrical linkage mechanism uses a mechanical motion distribution and stroke decoupling design to reduce the number of drive components while ensuring the independence of the movements and coordinated accuracy of the dual delivery units. In actual applications, the length of the strip groove 10 can be adjusted to achieve multiple modes of delivery, including unilateral independent delivery, bilateral synchronous delivery, and time-sharing sequential delivery.

[0031] It should be noted that, as a feasible option, an electromagnetic controller, a hydraulic or pneumatic cylinder (motor) or a linear push rod motor and connecting rod design can be used to replace the servo. Reasonable replacement of the power source is within the scope of protection of the present invention.

[0032] Example 3

[0033] like Figure 5As shown, the embodiment is different from the embodiment 2 in that it further comprises a protective shell 12 fixedly installed at the center plate position of the unmanned aerial vehicle and closely attached to the center plate, so that the gravity center is uniformly distributed and the shaking during the dropping is avoided. Four unmanned aerial vehicle mounting vertical dropping devices are installed in the protective shell 12 and arranged in two groups according to the arrangement mode of the embodiment 2. The containing cylinder 1 is fixedly installed on the protective shell 12, the protective shell 12 adopts a split type structure design and comprises an upper cover plate, a side wall frame and a lower cover plate, a through hole is arranged on the upper cover plate and the lower cover plate of the protective shell 12 corresponding to the inner cavity of the containing cylinder 1, and a closed cavity is formed between the protective shell 12 and the outer wall of the containing cylinder 1. The moving limiting block 2, the synchronous transmission mechanism, the guide base 8 and the driving steering engine 11 are all integrated in the inner cavity of the protective shell 12, the driving execution mechanism is physically isolated by the closed cavity, and dustproof, waterproof, electromagnetic interference protection and mechanical protection are realized.

[0034] The above is only an example and description of the structure of the present application, and those skilled in the art can make various modifications or supplements or use similar ways to replace the described specific embodiments, as long as they do not deviate from the structure of the present application or exceed the scope defined by the present application, which shall belong to the protection scope of the present application.

Claims

1. UAV mounted vertical delivery device, characterized by: The invention comprises a vertically arranged accommodating cylinder (1), wherein a plurality of movable limit blocks (2) are evenly spaced circumferentially arranged on the lower outer wall of the accommodating cylinder (1), and a side wall of the accommodating cylinder (1) is provided with a notch corresponding to the movable limit block (2), and the plurality of movable limit blocks (2) are connected to a synchronous transmission mechanism; the synchronous transmission mechanism is used to drive each movable limit block (2) to synchronously radially extend and retract at the notch, and comprises a rotating ring (3) coaxially sleeved on the outer side of the accommodating cylinder (1) and a mechanism for driving the rotating ring (3) to reciprocate at a set angle. A rotating driving assembly, wherein a plurality of guide bevel grooves (4) are provided at equal angles on the circumferential end surface of the rotating ring (3), and the guide bevel grooves (4) form a preset inclination angle with the radial plane of the rotating ring (3); the outer end of the movable limit block (2) is fixedly connected with a guide pin shaft (5), and the guide pin shaft (5) is embedded in the guide bevel groove (4). When the rotating ring (3) rotates, the guide bevel groove (4) and the guide pin shaft (5) generate relative motion, thereby realizing the coordinated telescopic action of the plurality of movable limit blocks (2) along the radial direction of the accommodating cylinder (1).

2. The UAV mounted vertical delivery device according to claim 1, characterized in that: At least two arc-shaped guide grooves (6) are provided on the rotating ring (3) at intervals along the circumferential direction, the center of curvature of each arc-shaped guide groove (6) coincides with the rotation axis of the rotating ring (3), and a cylindrical positioning pin (7) is matched and provided in the arc-shaped guide groove (6). The positioning pin (7) is fixedly mounted on the fixed base and embedded in the arc-shaped guide groove (6) of the rotating ring (3) to form a sliding pair.

3. The UAV mounted vertical delivery device according to claim 1, characterized in that: The outer side of the movable limit block (2) is also provided with a guide base (8) that is slidably matched with the movable limit block (2). The guide base (8) is fixedly mounted on the fixed base. A linear slide groove is provided on the guide base (8) along the radial direction of the accommodating cylinder (1). The guide pin shaft (5) of the movable limit block (2) passes through the linear slide groove to form a sliding pair.

4. The UAV mounted vertical delivery device according to any one of claims 1 to 3, characterized in that: The drone-mounted vertical delivery devices are arranged in groups of two, and a driving device is installed between the two drone-mounted vertical delivery devices. The accommodating cylinders (1) of the two delivery devices are arranged in mirror symmetry. Each rotating ring (3) is rotatably connected to a connecting rod (9) through a pin shaft, and the other end of the connecting rod (9) is provided with a strip groove (10) extending along the length direction. The output end of the driving device is connected to a driving rod, and the driving rod passes through the strip grooves (10) on the two connecting rods (9) at the same time. The length of the strip groove (10) is sufficient to ensure that when the driving rod pushes one of the connecting rods (9) to move, the driving rod generates a relative sliding displacement in the strip groove (10) of the other connecting rod (9).

5. The UAV mounted vertical delivery device according to claim 4, characterized in that: The driving device is any one of a steering gear (11), an electromagnetic controller, a hydraulic or pneumatic cylinder, and a linear push rod motor.

6. The UAV mounted vertical delivery device according to claim 4, characterized in that: The invention also includes a protective shell (12) fixedly mounted on the center plate of the drone, wherein the accommodating cylinder (1) is fixedly mounted in the protective shell (12), and the protective shell (12) is provided with a delivery port corresponding to the inner cavity of the accommodating cylinder (1), and a closed cavity is formed between the protective shell (12) and the outer wall of the accommodating cylinder (1).

7. The UAV mounted vertical delivery device according to any one of claims 1 to 3, characterized in that: The invention also includes a protective shell (12) fixedly mounted on the center plate of the drone, wherein the accommodating cylinder (1) is fixedly mounted in the protective shell (12), and the protective shell (12) is provided with a delivery port corresponding to the inner cavity of the accommodating cylinder (1), and a closed cavity is formed between the protective shell (12) and the outer wall of the accommodating cylinder (1).

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