Logistics unmanned aerial vehicle transportation system

Abstract

The invention relates to the technical field of unmanned aerial vehicle logistics, in particular to a logistics unmanned aerial vehicle transportation system which comprises a logistics transfer cabinet and a logistics unmanned aerial vehicle, the logistics unmanned aerial vehicle comprises an unmanned aerial vehicle body and a plurality of manipulators arranged on the unmanned aerial vehicle body, the unmanned aerial vehicle body comprises a vehicle body and a foot stool, and the foot stool is arranged below the vehicle body. The plurality of manipulators are oppositely arranged on the foot stand, each manipulator comprises a driving device, a transmission mechanism and a clamping arm, and the driving device is connected with the transmission mechanism; the clamping arm is provided with a movable fulcrum and a rotating point, the movable fulcrum is rotationally connected with the transmission mechanism, the rotating point is arranged at one end of the clamping arm, the other end of the clamping arm is a clamping end, and in the initial state, a certain included angle a is formed between the clamping arm and the vertical plane. The manipulator only needs a single vertical upward force to automatically and continuously complete two actions of fixing and lifting, and does not need an additional driving device or a complex control system and algorithm to control the actions of fixing and lifting.

Description

Technical Field

[0001] The present invention relates to the field of drone logistics technology, and more specifically, to a logistics drone transportation system. Background Art

[0002] With the explosive growth of e-commerce and instant delivery services, drone logistics, a core component of smart cities and future logistics systems, is rapidly moving from proof-of-concept to large-scale commercial use. Its core value lies in its ability to overcome geographical constraints and achieve fast and efficient point-to-point delivery, significantly improving the efficiency of end-to-end logistics and reducing labor costs. However, achieving large-scale, automated drone freight transportation faces a crucial and long-standing technical challenge: how to achieve fast, reliable, and manual automatic connection and release between logistics containers and drones at ground stations or delivery points.

[0003] Traditional drone-cargo container connections often rely on simple snaps, latches, or electromagnetic attachment mechanisms. These methods exhibit numerous limitations in practical applications. First, they often place extremely stringent demands on the drone's hovering precision. Drones in outdoor environments are subject to airflow, inevitably experiencing millimeter- or even centimeter-level deviations in their hovering position. Even slight misalignment can lead to attachment failure, severely reducing the reliability and efficiency of the entire system. Second, most rigid connection structures lack fault tolerance and adaptability. In the presence of misalignment, forced attachment can not only damage the connection mechanisms on the drone or cargo container, but can even cause the drone to become unstable, potentially leading to safety incidents. Finally, many existing designs generate significant impact loads during the attachment process, which is detrimental to the lightweight drone's airframe and sensitive flight control systems. Another approach involves using simple hooks or nets, but these often compromise the stability of the connection, making the cargo container susceptible to shaking during transport, compromising the drone's flight stability and safety.

[0004] To address these issues, the industry has begun exploring drones with more intelligent gripping mechanisms. For example, multi-fingered dexterous grippers with biomimetic designs, while highly flexible, are complex in structure, expensive to manufacture, require complex control algorithms, and are heavy, making them unsuitable for drone platforms that are extremely sensitive to payload and power consumption. Summary of the Invention

[0005] The present invention aims to overcome at least one defect (shortcoming) of the above-mentioned prior art and provide a logistics drone transportation system to solve the problems in the existing logistics drone transportation system such as complex mechanical structure, high manufacturing cost, complex control algorithm and heavy weight of the logistics drone for grabbing goods.

[0006] The technical solution adopted by the present invention is a logistics drone transportation system, including a logistics transfer cabinet and a logistics drone, the logistics transfer cabinet including a cabinet body, one side of the cabinet body is provided with an operation screen and a pick-up and drop-out port, the cabinet body is provided with a logistics box storage rack, a logistics box storage and access compartment and an access robot arm, a plurality of logistics boxes are provided on the logistics box storage rack, the logistics box storage and access compartment corresponds to the position of the pick-up and drop-out port, a hatch is provided on the top of the cabinet body, the hatch can be opened and closed, a drone landing platform is provided below the hatch, and a logistics box window is provided on the drone landing platform;

[0007] The logistics drone includes a drone body and multiple manipulators arranged on the drone body, wherein the drone body includes a fuselage, multiple rotor assemblies and a tripod arranged on the fuselage, a battery pack and a control module for providing power are arranged in the fuselage, the tripod is arranged below the fuselage, and the multiple manipulators are relatively arranged on the tripod; it is characterized in that

[0008] The manipulator includes a drive device, a transmission mechanism and a clamping arm, wherein the drive device is connected to the transmission mechanism; the clamping arm has a movable fulcrum and a rotation point, wherein the movable fulcrum is rotationally connected to the transmission mechanism, the rotation point is located at one end of the clamping arm, and the other end of the clamping arm is the clamping end. In the initial state, the clamping arm forms a certain angle a with the vertical plane.

[0009] The logistics transfer cabinet is used for receiving, temporarily storing and delivering goods, and the logistics unmanned aerial vehicle is used for transporting goods. When goods are sent out, the sender inputs the information related to the sent goods through the operation screen, the storage and retrieval mechanical arm places the logistics box into the logistics box storage cabin, the sender places the goods into the logistics box through the taking and placing opening, and then confirms the information related to the sent goods on the operation screen. After the confirmation, the storage and retrieval mechanical arm places the logistics box together with the goods in the logistics box storage rack. The information of the goods is sent to the background through the network, the background analyzes and drives the logistics unmanned aerial vehicle to take off above the logistics transfer cabinet, through information interaction, the logistics transfer cabinet opens the hatch cover at the top of the cabinet body, the logistics unmanned aerial vehicle lands on the unmanned aerial vehicle landing platform, and at the same time, the storage and retrieval mechanical arm sends out the corresponding logistics box through the logistics box window, so that the logistics box is between multiple mechanical hands. The driving device drives the movable fulcrum of the clamping arm to bear the vertical upward pulling force through the transmission mechanism, so as to make the clamping arm rotate around the movable fulcrum first, so as to fix the logistics box. After clamping, the clamping arm no longer rotates, but moves upward as a whole, so as to lift the logistics box. After receiving the logistics box, the logistics unmanned aerial vehicle flies according to a certain route to send the logistics box and the goods in the logistics box to the designated logistics transfer cabinet, and lands on the unmanned aerial vehicle landing platform of the logistics transfer cabinet. The storage and retrieval mechanical arm of the logistics transfer cabinet at the designated place unloads the logistics box on the logistics unmanned aerial vehicle through the logistics box window, and places it on the logistics box storage rack. Then the background notifies the receiver to take the goods. The process of unloading the logistics box by the mechanical hand is the reverse process of the above-mentioned fixing and lifting process of the logistics box. The receiver can input the relevant information through the operation screen, and the storage and retrieval mechanical arm places the corresponding logistics box into the logistics box storage cabin according to the information. The receiver takes out the goods in the logistics box through the taking and placing opening. The mechanical hand of the logistics unmanned aerial vehicle only needs a single vertical upward force to automatically and continuously complete the fixing and lifting actions, without the need for additional driving devices or complex control systems and algorithms to control the fixing and lifting actions, thereby simplifying the equipment and control logic. The whole mechanism is only composed of a clamping arm, a movable fulcrum and a movable rotation point, without the need for complex sensors, motors or gear sets. The driving part only needs a simple vertical lifting device, which is simple in structure, low in manufacturing cost, light in weight, and can well cooperate with the logistics transfer cabinet, so that the whole transportation process does not need manual intervention, has high automation degree, reduces labor cost, improves operation efficiency, and meets the development needs of the modern logistics industry.

[0010] Further, the transmission mechanism of the mechanical hand is vertically arranged.

[0011] The transmission mechanism is vertically arranged, so that the moving branch point of the clamping arm moves in the same vertical direction during the fixing and lifting process. The main function of the manipulator is to vertically lift the logistics box, and the required power is the vertical pulling force. The vertically arranged transmission mechanism directly generates driving force in the vertical direction, and this force is converted into clamping force and lifting force through the moving branch point of the clamping arm with almost no loss. On the other hand, the vertically arranged structure is compact and saves space, and the structure of the entire system can be made very compact and lightweight.

[0012] Further, the manipulator further comprises a housing having oppositely arranged side plates, wherein a sliding groove is arranged on the side plates, the rotating point moves in the sliding groove, and the sliding groove comprises a horizontal section and a vertical section, and the length of the horizontal section of the sliding groove is equal to the distance between the moving branch point and the rotating point.

[0013] In the initial state, the rotating point of the clamping arm is located at the first end of the horizontal section of the sliding groove, and when the driving device works, the transmission mechanism pulls the moving branch point of the clamping arm upward. Since the rotating point of the clamping arm is limited by the horizontal section of the sliding groove and cannot move upward directly, the clamping arm is forced to rotate around the moving branch point, so that the clamping end of the clamping arm swings upward. At this time, the angle a between the clamping arm and the vertical plane increases, and the rotating point of the clamping arm moves in the opposite direction of the rotation of the clamping arm. The length of the horizontal section of the sliding groove is set to be equal to the distance between the moving branch point and the rotating point. When the clamping arm rotates to the horizontal state, the rotating point slides into the transition area between the horizontal section and the vertical section of the sliding groove. At this time, the clamping arm stops rotating, and the clamping force reaches the peak value. The transmission mechanism continues to move upward, and the rotating point can smoothly and naturally enter the vertical section of the sliding groove. The clamping arm as a whole vertically rises with the transmission mechanism, and the clamped logistics box is synchronously lifted.

[0014] Further, the vertical section and the horizontal section of the sliding groove are connected by a circular arc.

[0015] The circular arc transition between the vertical section and the horizontal section of the sliding groove is used to achieve smooth transition and reduce impact and jamming. If a right angle transition is used, the rotating point of the clamping arm will suddenly change direction when switching from horizontal motion to vertical motion, which will generate a large impact force, vibration and noise. Not only does this affect the user experience, but it also seriously reduces the service life of the parts and even causes the phenomenon of jamming, resulting in failure of the mechanism. The circular arc provides a continuous path with gradually changing tangential direction, allowing the rotating point to smoothly transition from horizontal motion to vertical motion, avoiding impact, vibration and jamming problems.

[0016] Further, in the initial state, the angle a between the clamping arm and the vertical plane is 10-35 degrees.

[0017] The clamping arm is arranged at a certain angle with the vertical plane, so that the clamping arm can rotate in the preset direction when it is subjected to upward tension. If the angle a is too small, the force arm will be too short, and the driving device needs to output a larger torque to rotate the clamping arm, which requires a higher driving device. However, if the angle a is too large, the opening between multiple mechanical arms will be too small, and the precision requirement for the landing of the unmanned aerial vehicle will be increased, or a larger foot support needs to be provided to ensure that there is a large enough opening between multiple mechanical arms so that the logistics box is between multiple mechanical arms. Therefore, the angle a between the clamping arm and the vertical plane is set to 10-35 degrees.

[0018] Further, the ratio of the distance from the rotating point of the clamping arm to the dynamic support point to the total length of the clamping arm is 1:5-1:3.

[0019] The clamping arm relies on the driving device to generate power to pull the dynamic support point to rotate in the fixed stage. If the ratio of the distance from the rotating point of the clamping arm to the dynamic support point to the total length of the clamping arm is too small, the force arm will be too short, and the driving device needs to have a larger power, which requires a higher power for the driving device. In the fixed stage, the clamping arm will eventually rotate to a horizontal state, and if the ratio of the distance from the rotating point of the clamping arm to the dynamic support point to the total length of the clamping arm is too large, the overall result of the clamping arm also needs to be increased accordingly. Therefore, the ratio of the distance from the rotating point of the clamping arm to the dynamic support point to the total length of the clamping arm is 1:5-1:3 to balance.

[0020] Further, the clamping end of the clamping arm is provided with a clamping plate, and the clamping plate is provided with a fixed pin.

[0021] The fixed pin is arranged on the clamping plate, which can cooperate with the locking groove on the lug of the logistics box to fix the logistics box and prevent it from moving, thereby improving the stability during transportation. Even if the logistics unmanned aerial vehicle tilts during flight, the logistics box will not slide or fall off.

[0022] Further, the side of the logistics box is provided with a lug, and the lower side of the lug is provided with a locking groove.

[0023] The transportation system uses a unified logistics box, and the storage and retrieval mechanical arm and the mechanical hand only need to adapt to the shape and size of the logistics box, without the need to adapt to different sizes and shapes of goods, so the design of the storage and retrieval mechanical arm and the mechanical hand can be simplified, and the success rate of grabbing and the stability during transportation can be improved. The lug is arranged on the logistics box, which can cooperate with the support frame of the logistics box storage rack and the mounting frame of the logistics box storage and retrieval position, so that the logistics box is hung on the logistics box storage and retrieval position and the logistics box storage and retrieval position, to facilitate the bottom lifting of the logistics box by the storage and retrieval platform. The lug can make the clamping arm of the mechanical hand hold the logistics box upwards, so that the weight of the logistics box is no longer dependent on the friction between the clamping arm and the side wall of the logistics box, but is directly hung on the clamping arm through the lug. The locking groove can cooperate with the locking pin on the support frame and the fixed pin on the clamping arm to ensure the stability of the logistics box in the logistics transfer cabinet and on the logistics unmanned aerial vehicle.

[0024] Further, the unmanned aerial vehicle landing platform is provided with a centering mechanism for adjusting the position of the unmanned aerial vehicle.

[0025] The centering mechanism is used to adjust the position of the unmanned aerial vehicle on the unmanned aerial vehicle landing platform, so that the logistics unmanned aerial vehicle is directly above the logistics box window. After the access mechanical arm sends out the logistics box from the logistics box window, the logistics box is directly below the logistics unmanned aerial vehicle and between the multiple mechanical arms, so that the mechanical arms can accurately fix and clamp the logistics box.

[0026] Further, the access mechanical arm comprises a linear guide rail module, a moving arm and an access platform. The linear guide rail module is vertically arranged. One end of the moving arm is connected with the linear guide rail module, and the other end of the moving arm is connected with the access platform.

[0027] The access platform is used to lift the logistics box. The access platform is arranged on the moving arm. The moving arm can move in the horizontal direction, thereby driving the access platform and the logistics box to move in the horizontal direction. The linear guide rail module is vertically arranged. The moving arm is arranged on the linear guide rail module. Through the linear guide rail module, the moving arm, the access platform and the logistics box can move in the vertical direction.

[0028] Compared to existing technologies, the present invention offers the following advantages: a logistics transfer cabinet integrates both receiving and dispatching functions, enabling both receiving and dispatching. This system utilizes a drone landing platform with a logistics box window. A storage and retrieval robot arm within the cabinet delivers the logistics box through the window to the underside of a logistics drone. The drone's manipulator secures and lifts the box and delivers it to a designated logistics transfer cabinet, where it is received and temporarily stored. The cabinet then sends a notification to the consignee via the backend to retrieve the box. This allows for direct docking between the drone and the logistics transfer cabinet, enabling the collection or dispatch of goods. The entire delivery process requires no human intervention, reducing intermediaries and facilitating faster drone delivery. This transport system utilizes a unified logistics box. The storage and retrieval robot arm and manipulator only need to adapt to the shape and specifications of the box, not to accommodate goods of varying sizes and shapes. This simplifies the design of the storage and retrieval robot arm and manipulator, improving the success rate of grabbing and stability during transport. A centering mechanism on the drone landing platform adjusts the position of the logistics drone to ensure it is directly above the logistics box window. The logistics drone is equipped with a manipulator. This manipulator utilizes a drive unit and a vertically mounted transmission mechanism to provide a single, upward force, automatically and continuously performing both clamping and lifting actions. This eliminates the need for additional drives or complex control systems and algorithms to control the clamping and lifting actions, simplifying the equipment and control logic. During the clamping and lifting processes, the pivoting connection point always moves vertically. The drive system requires only a single actuator providing linear motion, eliminating the need for multiple motors or complex multi-degree-of-freedom drive schemes. The control system only needs to issue "up" or "down" commands to the drive system, eliminating the need for complex multi-axis coordinated motion algorithms. This significantly simplifies the requirements for the drive and control systems, reducing production costs and maintenance complexity, as well as software complexity and improving system reliability. The simple layout and installation of the single linear motion drive system allows for a very compact and lightweight overall system. The manipulator mates with the lugs and locking grooves on the logistics box to enhance stability during transport. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a structural diagram of the present invention.

[0030] Figure 2 This is the structural diagram of the logistics transfer cabinet.

[0031] Figure 3 This is a structural diagram of the logistics transfer cabinet when its hatch is open.

[0032] Figure 4 This is the internal structure diagram of the logistics transfer cabinet.

[0033] Figure 5Structure diagram of a storage compartment for storing and retrieving logistics boxes.

[0034] Figure 6 Structure diagram of a storage compartment for storing and retrieving logistics boxes.

[0035] Figure 7 Structure diagram of a storage compartment for storing and retrieving logistics boxes.

[0036] Figure 8 Structure diagram of a logistics box.

[0037] Figure 9 Structure diagram of a logistics box.

[0038] Figure 10 Structure diagram of a logistics box storage rack.

[0039] Figure 11 Structure diagram of a retrieval robot arm.

[0040] Figure 12 Structure diagram of a retrieval robot arm.

[0041] Figure 13 Structure diagram of a hatch cover.

[0042] Figure 14 Structure diagram of a UAV landing platform.

[0043] Figure 15 Structure diagram of a UAV landing platform.

[0044] Figure 16 Structure diagram of a logistics UAV.

[0045] Figure 17 Structure diagram of a robot arm.

[0046] Figure 18 Structure diagram of a robot arm.

[0047] Figure 19 Front view of a robot arm.

[0048] Figure 20 Front view of a robot arm rear side plate.

[0049] Figure 21 Schematic diagram of a robot arm before fixing a logistics box.

[0050] Figure 22 Schematic diagram of a robot arm after lifting a logistics box. DETAILED DESCRIPTION

[0051] The accompanying drawings are for illustrative purposes only and are not to be construed as limiting the present invention. To better illustrate the following embodiments, some components in the accompanying drawings may be omitted, enlarged, or reduced in size, and do not represent actual product dimensions. Those skilled in the art will appreciate that some well-known structures and their descriptions may be omitted from the accompanying drawings.

[0052] like Figure 1-Figure 4 As shown, a logistics drone transportation system includes a logistics transfer cabinet 10 and a logistics drone, the logistics transfer cabinet 10 includes a cabinet body 100, one side of the cabinet body 100 is provided with an operation screen 111 and a pick-up and release port 112, the cabinet body 100 is provided with a logistics box storage rack 120, a logistics box storage and access compartment 130 and an access robotic arm 140, a plurality of logistics boxes 150 are provided on the logistics box storage rack 120, the logistics box storage and access compartment 130 corresponds to the position of the pick-up and release port 112, a hatch 160 is provided on the top of the cabinet body 100, the hatch 160 can be opened and closed, a drone landing platform 170 is provided below the hatch 160, and a logistics box window 171 is provided on the drone landing platform 170; as shown Figure 16 As shown, the logistics drone includes a drone body 20 and a plurality of manipulators 30 arranged on the drone body 20, wherein the drone body 20 includes a fuselage 200, a plurality of rotor assemblies 210 and a tripod 220 arranged on the fuselage 200, and a battery pack (not shown) and a control module (not shown) for providing power are arranged in the fuselage 200, the tripod 220 is arranged below the fuselage 200, and the plurality of manipulators 30 are relatively arranged on the tripod 220.

[0053] Specifically, such as Figure 3 、 Figure 4 As shown, the hatch 110 is arranged at the rear side of the cabinet, and the operation screen 111 and the access port 112 are arranged on the hatch 110. The operation screen 111 is used to realize human-computer interaction, and a cover 113 is provided on the access port 112 for opening or closing the access port 112.

[0054] like Figure 5-Figure 7As shown, the logistics box storage and access cabin 130 includes a box body 131 and a mounting frame 132, wherein the position of the box body 131 corresponds to the loading and unloading opening 112, the mounting frame 132 is arranged on the top of the box body 131, the mounting frame 132 includes a mounting plate 1321 and a clamping groove 1322 arranged on the lower side of the mounting plate 1321, and the mounting plate 1321 is in sliding connection with the top of the box body 131. An electric push rod 133 is further arranged above the box body 131, one end of the electric push rod 133 is fixed on the cabinet body 100, and the other end is connected with the mounting plate 1321. When the electric push rod 133 works, the mounting frame 132 can be driven to move, so that the mounting frame 132 is pushed out of the box body 131, so as to facilitate the logistics box 150 to be placed on the mounting frame 132 by the storage and access mechanical arm 140 or the logistics box 150 to be taken out from the mounting frame 132. After the loading and unloading is completed, the electric push rod 133 pulls the mounting frame 132 back to the box body 131. In order to facilitate the loading and unloading of the logistics box 150, the clamping groove 1322 is arranged longitudinally (in the front-rear direction). A first photoelectric sensor 134 is further arranged in the box body 131, which is used to monitor whether the logistics box 150 is placed in the box body 131.

[0055] As shown in Figure 8 , Figure 9 , the logistics box 150 is a cuboid structure, a box cover 151 is arranged on the top of the logistics box 150, lugs 152 are arranged on both sides of the logistics box 150, and locking grooves 153 are arranged on the lower side of the lugs 152. A plurality of positioning holes 154 are arranged on the bottom of the logistics box 150. Through the cooperation of the lugs 152 and the clamping grooves 1322, the logistics box 150 can be stably placed on the mounting frame 132, and the structure is simple and the operation is convenient. The logistics transfer cabinet sets logistics boxes 150 of uniform specifications and shapes, and the mounting frame 132, the logistics box storage rack 120 and the storage and access mechanical arm 140 only need to match the specifications and shapes of the logistics box 150, without the need to set a complex structure to adapt to goods of different shapes or specifications.

[0056] As shown in Figure 10As shown, the logistics box storage rack 120 includes a fixed plate 121 and a support rack 122, the fixed plate 121 is provided with a plurality of fixed plates 121 which are arranged at intervals on the left side of the cabinet body 100, and the support rack 122 is arranged opposite to the side of the fixed plate 121, the support rack 122 is used to carry the lug 152 of the logistics box 150 to realize the storage of the logistics box 150. In order to facilitate the taking and placing of the logistics box 150, and to set more storage positions, the support rack 122 is arranged transversely (left and right direction). The support rack 122 is also provided with a locking pin 123, when the logistics box 150 is placed on the logistics box storage rack 120, the locking pin 123 cooperates with the locking groove 153 on the lug 152 to prevent the logistics box 150 from sliding off the logistics box storage rack 120. The side of the fixed plate 121 is also provided with a second photoelectric sensor 124 respectively, for monitoring whether the logistics box 150 is placed on the logistics box storage rack 120.

[0057] As shown in Figure 11 , Figure 12 The access mechanical arm 140 includes a linear guide rail module 141, a moving arm 142 and an access platform 143, the linear guide rail module 141 includes a linear guide rail 1411, a sliding block 1412 and a driving system, the driving system includes a driving motor 1413, a screw rod (not shown) and a nut seat (not shown), the linear guide rail 1411 is vertically arranged on the front side of the cabinet body 100, the screw rod and the nut seat are arranged in the linear guide rail 1411, the nut seat is arranged on the screw rod, the driving motor 1413 is fixed on the lower end of the linear guide rail 1411, and the output shaft thereof is connected with the screw rod. The sliding block 1412 is slidably installed on the linear guide rail 1411 and connected with the nut seat. When the driving motor 1413 works, the screw rod rotates to make the nut seat move along the screw rod, thereby driving the sliding block 1412 to move along the linear guide rail 1411.

[0058] As shown in Figure 12As shown, the moving arm 142 includes multiple reduction motors and motor fixings, the reduction motors include a first reduction motor 1421, a second reduction motor 1422 and a third reduction motor 1423, and the motor fixings include a first motor fixing 1424, a second motor fixing 1425 and a third motor fixing 1426; the first reduction motor 1421 is fixed to the slider 1412 through the first motor fixing 1424, one end of the second motor fixing 1425 is connected to the first reduction motor 1421, and the other end is connected to the second reduction motor 1422, one end of the third motor fixing 1426 is connected to the second reduction motor 1422, and the other end is connected to the third reduction motor 1423, and the access platform 143 is set on the output shaft of the third reduction motor 1423. The access platform 143 is equipped with multiple positioning pins 1431. When lifting the logistics box 150, the positioning pins 1431 engage with the positioning holes 154 at the bottom of the logistics box 150 to prevent the logistics box 150 from moving or falling. The flexible combination of multiple reduction motors through motor mounting brackets can better adapt to narrow spaces. The movable arm 142 is also equipped with a third photoelectric sensor 1427 to enable precise placement and retrieval of the logistics box 150. The provision of the third reduction motor 1423 facilitates the adjustment of the direction of the logistics box 150.

[0059] like Figure 13As shown, the hatch cover 160 is disposed on the top of the cabinet 100 and includes a first hatch cover plate 161 and a second hatch cover plate 162. The first hatch cover plate 161 and the second hatch cover plate 162 are respectively connected to the cabinet 100 via slide rails 163. The cabinet 100 is also provided with a hatch cover drive system 164, which can drive the first hatch cover plate 161 and the second hatch cover plate 162 to move toward or away from each other. When the first hatch cover plate 161 and the second hatch cover plate 162 move away from each other, the hatch cover 160 is opened, and when the first hatch cover plate 161 and the second hatch cover plate 162 move toward each other, the hatch cover 160 is closed. The hatch cover drive system 164 includes a first motor 1641, a first transmission shaft 1642, a first synchronous belt 1643, and first synchronous pulleys 1644. There are four first synchronous pulleys 1644, one located at each corner of the cabinet 100. The first transmission shaft 1642 is longitudinally disposed on the right side of the cabinet 100, with its ends connected to the two first synchronous pulleys 1644 on the right side. The first motor 1641 is connected to the first transmission shaft 1642. There are two first synchronous belts 1643, one located on the two first synchronous pulleys 1644 on the front side of the cabinet 100 and the other on the two first synchronous pulleys 1644 on the rear side of the cabinet 100. When the first motor 1641 is operating, it drives the first synchronous belts 1643 to move via the two first synchronous pulleys 1644 on the right side. Each first synchronous belt 1643 is further provided with two connecting members 1645, which are respectively arranged at the upper and lower sections of the first synchronous belt 1643 so as to move in opposite directions. The two connecting members 1645 are respectively connected to the first hatch cover 161 and the second hatch cover 162. When the first synchronous belt 1643 moves, the two connecting members 1645 on the first synchronous belt 1643 can move toward or away from each other, thereby achieving the movement of the first hatch cover 161 and the second hatch cover 162 toward or away from each other.

[0060] like Figure 14As shown, the drone landing platform 170 is located below the hatch 160, with a logistics box window 171 provided in its center for the passage of the logistics box 150. The drone landing platform 170 is also equipped with a centering mechanism for adjusting the position of the logistics drone, placing it directly above the logistics box window 171 to facilitate the reception and unloading of the logistics box 150. The centering mechanism includes a longitudinal centering device 172 and a transverse centering device 173. The longitudinal centering device 172 adjusts the longitudinal (front-to-back) position of the logistics drone, while the transverse centering device 173 adjusts the transverse (left-to-right) position of the logistics drone. The longitudinal centering device 172 includes a front centering push plate 1721, a rear centering push plate 1722, and a longitudinal drive system that drives the front centering push plate 1721 and the rear centering push plate 1722 in opposite directions. The transverse centering device 173 includes a left centering push plate 1731, a right centering push plate 1732, and a transverse drive system that drives the left centering push plate 1731 and the right centering push plate 1732. The front centering push plate 1721, the rear centering push plate 1722, the left centering push plate 1731, and the right centering push plate 1732 are all located above the drone landing platform 170, and the longitudinal drive system and the transverse drive system are both located below the drone landing platform 170.

[0061] The structure and principle of the longitudinal drive system are similar to those of the transverse drive system. The following only takes the transverse drive system as an example for introduction, and does not describe the longitudinal drive system in detail. Figure 15 As shown, the lateral drive system includes a second motor 1733, a second transmission shaft 1734 and a third transmission shaft 1735. There are two second transmission shafts 1734 and three transmission shafts 1735, respectively. A second transmission shaft 1734 and a third transmission shaft 1735 are respectively provided on the front and rear sides of the drone landing platform 170. The second transmission shaft 1734 and the third transmission shaft 1735 are connected by a coupling 1736, and the second transmission shaft 1734 is provided on the right side of the third transmission shaft 1735. The right ends of the two second transmission shafts 1734 are also provided with second synchronous wheels 1737. The second transmission shaft 1734 and the third transmission shaft 1735 are provided with opposite external threads, and nuts 1738 are respectively provided on the second transmission shaft 1734 and the third transmission shaft 1735. Each nut 1738 is provided with a nut rack 1739, and the nut rack 1739 is provided with a push plate connector 1730. ( Figure 13The nut 1738, the nut holder 1739 and the push plate connecting piece 1730 on the back side are separated for display clarity, and the push plate connecting piece 1730 is connected to the two ends of the left and right centering push plates 1731 and 1732, respectively. The second motor 1733 is arranged on the right side of the UAV landing platform 170, and a third synchronous wheel 1728 is arranged on the output shaft of the second motor 1733. A second synchronous belt 1729 is arranged on the two second synchronous wheels 1737 and the third synchronous wheel 1728. When the second motor 1733 works, the third synchronous wheel 1728 rotates, and the second synchronous belt 1729 and the two second synchronous wheels 1737 drive the front and back second transmission shafts 1734 and the third transmission shaft 1735 to rotate, respectively, so that the nuts 1738 on the second transmission shaft 1734 and the third transmission shaft 1735 move in opposite directions, thereby driving the left and right centering push plates 1731 and 1732 to move in opposite directions (towards or away from each other) through the nut holder 1739 and the push plate connecting piece 1730.

[0062] As shown in Figure 2-Figure 4 The cabinet body 100 is also provided with a weather station assembly 180 for monitoring surrounding weather elements to provide data support for the take-off and landing, flight path planning and cargo safety of the logistics UAV, and to avoid the risk of crash or cargo damage caused by the flight of the logistics UAV in adverse conditions.

[0063] As shown in Figure 16 The logistics UAV includes a UAV main body 20 and a plurality of mechanical hands 30 arranged on the UAV main body 20. The UAV main body 20 includes a fuselage 200, a plurality of rotor assemblies 210 arranged on the fuselage 200 and a foot stand 220. The fuselage 200 is provided with a battery pack (not shown) for power supply and a control module (not shown). The foot stand 220 is arranged below the fuselage 200, and the plurality of mechanical hands 30 are arranged on the foot stand 220.

[0064] Specifically, as shown in Figure 16As shown, a foot 230 is provided on the fuselage 200, and the tripod 220 is fixed under the foot 230. The tripod 220 includes a plurality of vertical rods 221 and a reinforcing rod 222. Specifically, there are four vertical rods 221, all of which are vertically arranged. The upper and lower ends of the four vertical rods 221 are respectively connected by four reinforcing rods 222, thereby forming a rectangular frame structure. A gimbal assembly 240 is provided on the tripod 220. A plurality of fixed rods 223 are provided in the middle of the rectangular frame structure. The plurality of fixed rods 223 are respectively located on the front, left and right sides of the frame structure (here the direction where the gimbal assembly is located is defined as the front of the logistics drone). The gimbal assembly 240 is provided on the fixed rod 223 on the front side, and a laser rangefinder 250 is provided on the fixed rod 223 on the left side. A tripod pad 260 is also provided at the lower end of the vertical rod 221. The tripod pad 260 is made of soft material and is used to reduce vibration when the logistics drone lands, and reduce wear on the tripod 220 or the drone landing platform when adjusting the position.

[0065] like Figures 16-20 As shown, in this embodiment, there are two manipulators 30, respectively disposed on the left and right sides of the tripod 220. The two manipulators 30 are arranged opposite each other, with the inner side panels 333 of the housing 330 facing the central axis of the drone body. The manipulator 30 includes a drive unit 300, a transmission mechanism 310, a clamping arm 320, and a housing 330. The drive unit 300 is disposed on the upper side of the housing 330; the transmission mechanism 310 is disposed within the housing 330 and connected to the drive unit 300. The housing 330 is a rectangular parallelepiped structure and includes a front side panel 331, a rear side panel 332, an inner side panel 333, an outer side panel 334, a bottom panel 335, and a top panel 336. The inner side panel 333 is provided with a clearance position for the clamping arm 320. The front side panel 331 and the rear side panel 332 are disposed opposite each other. A slide groove 340 is provided on the front side plate 331 and the rear side plate 332 respectively. The slide groove 340 is "L"-shaped, including a horizontal section 3401 and a vertical section 3402. The horizontal section 3401 and the vertical section 3402 are connected by an arc transition, and the length of the horizontal section 3401 is L. The clamping arm 320 includes a movable fulcrum and a rotation point, the movable fulcrum is the second bearing 322, which is connected to the transmission mechanism 310; the rotation point is the first bearing 321, which is arranged at one end of the clamping arm 320, and the distance between the first bearing 321 and the second bearing 322 is S, which is equal to the length L of the horizontal section 3401 of the slide groove 340, and the ratio of S to the total length S1 of the clamping arm is 1:5-1:3, and the first bearing 321 is embedded in the slide groove 340 and can roll along the slide groove 340; the other end of the clamping arm 320 is the clamping end 3201, and the clamping end 3201 is a free end, extending to the outside of the shell 330; in the initial state, the clamping arm 320 forms a certain angle a with the vertical plane. Preferably, in the initial state, the angle a between the clamping arm 320 and the vertical plane is 10-35 degrees.

[0066] like Figure 17-Figure 19 As shown, the drive device 300 is arranged on the top plate 336, and the transmission mechanism 310 is arranged vertically and includes a screw rod 311, a nut seat 312 and a guide assembly 313. The screw rod 311 is arranged vertically, its upper end passes through the top plate 336 and is connected to the drive device 300, and its lower end is arranged on the bottom plate 335 of the housing 330. The bottom plate 335 is provided with a bearing seat 314. The lower end of the screw rod 331 is arranged on the bearing seat 314. The nut seat 312 is sleeved on the screw rod 311, and the screw rod 311 is provided with an external thread. The nut seat 312 is provided with a matching internal thread. The second bearing 322 is connected to the nut seat 312. The guide assembly 313 includes a vertically arranged slide rail 3131 and a slider 3132 that slidably cooperates with the slide rail 3131. The slide rail 3131 is fixed to the outer plate 334 of the housing 330, and the slider 3132 is connected to the nut seat 312. The guide assembly 313 is used to limit the horizontal movement of the nut seat 312, forcing it to move only vertically. When the drive device 300 drives the screw rod 311 to rotate, the threaded engagement allows the nut seat 312 to move up and down along the screw rod 311. A limit stop 3121 is provided on the side of the nut seat 312 facing the inner plate 333. When the clamping arm 320 rotates to a horizontal position, the limit stop 3121 contacts the clamping arm 320, preventing the clamping arm 320 from further rotating upward.

[0067] like Figure 17-Figure 19 As shown, a clamping plate 350 is provided on the clamping end 3201 of the clamping arm 320, and a fixing pin 351 is provided on the clamping plate 350. After the clamping arm 320 fixes the logistics box 150, the clamping arm 320 can hold the lug 152, so that the weight of the logistics box 150 no longer depends on the friction between the clamping arm 320 and the side wall of the logistics box 150, but is directly suspended on the clamping arm 320 through the lug 152, thereby forming a reliable mechanical connection and improving the safety of anti-falling. A fixing pin 351 is provided on the clamping plate 350. When the logistics box 150 is fixed, the fixing pin 351 is inserted into the locking groove 153 on the lower side of the lug 152, which can prevent the logistics box 150 from moving in the horizontal direction. Even if the drone tilts during flight, the logistics box 150 will not slip, further improving the safety of anti-falling.

[0068] like Figure 21 、 Figure 22As shown, when the logistics box 150 is loaded, the logistics unmanned aerial vehicle lands above the logistics box 150, and the logistics box 150 is located between the two mechanical hands. In the initial state, the clamping arm 320 is inclined inward (towards the central axis of the unmanned aerial vehicle body) at a certain angle a with the vertical plane, and the first bearing 321 on the clamping arm 320 is located at the first end of the horizontal section 3401 of the sliding groove 340; when the driving device 300 works, the screw rod 311 rotates, and the nut seat 312 sleeved on the screw rod 311 moves upward, and an upward pulling force is applied to the second bearing 322; since the first bearing 321 of the clamping arm 320 is located in the horizontal section 3401 of the sliding groove 340 and cannot directly move upward due to the limitation of the horizontal section 3401 of the sliding groove 340, the clamping arm 320 is forced to rotate inward with the second bearing 322 as the center, so that the clamping end 3201 of the clamping arm 320 swings upward, and the angle a between the clamping arm 320 and the vertical plane gradually increases; the first bearing 321 on the clamping arm 320 moves in the opposite direction (i.e., outward) of the rotation of the clamping arm 320, and the two mechanical hands interact to gradually clamp the logistics box 150. When the clamping arm 320 rotates to the horizontal state, the first bearing 321 is located at the end of the horizontal section 3401 of the sliding groove 340, i.e., the transition zone of the horizontal section 3401 and the vertical section 3402, at this time, the clamping arm 320 abuts against the limiting block 3121 on the nut seat 312, the clamping arm 320 stops rotating, and the clamping force reaches the peak value. With the continuous upward movement of the nut seat 312, the first bearing 321 enters the vertical section 3402 of the sliding groove 340 from the transition zone, and the clamping arm 320 vertically rises as a whole with the nut seat 312, and synchronously lifts the clamped logistics box 150.

[0069] The unloading process of the logistics box 150 is the reverse process of the above steps.

[0070] Obviously, the above embodiments of the present application are only examples for clearly illustrating the technical solutions of the present application, and are not intended to limit the specific embodiments of the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A logistics drone transport system, comprising a logistics transfer cabinet and a logistics drone. The logistics transfer cabinet comprises a cabinet body, one side of which is provided with an operation screen and a pick-up and drop-out opening. The cabinet body is provided with a logistics box storage rack, a logistics box storage and access compartment, and a storage and access robotic arm. The logistics box storage rack is provided with multiple logistics boxes, and the logistics box storage and access compartments correspond to the positions of the pick-up and drop-out opening. The cabinet body is provided with an openable hatch on the top, and a drone landing platform is provided below the hatch, with a logistics box window provided on the drone landing platform. The logistics drone includes a drone body and multiple manipulators arranged on the drone body, wherein the drone body includes a fuselage, multiple rotor assemblies and a tripod arranged on the fuselage, a battery pack and a control module for providing power are arranged in the fuselage, the tripod is arranged below the fuselage, and the multiple manipulators are relatively arranged on the tripod; it is characterized in that The manipulator includes a drive device, a transmission mechanism and a clamping arm, wherein the drive device is connected to the transmission mechanism; the clamping arm has a movable fulcrum and a rotation point, wherein the movable fulcrum is rotationally connected to the transmission mechanism, the rotation point is located at one end of the clamping arm, and the other end of the clamping arm is the clamping end. In the initial state, the clamping arm forms a certain angle a with the vertical plane.

2. A logistics drone transportation system according to claim 1, characterized in that: The transmission mechanism of the manipulator is arranged vertically.

3. A logistics drone transportation system according to claim 2, characterized in that: The manipulator also includes a shell, which has side panels arranged opposite to each other, and a slide groove is provided on the side panels. The rotation point moves in the slide groove, and the slide groove includes a horizontal section and a vertical section. The length of the horizontal section of the slide groove is equal to the distance between the movable support and the rotation point.

4. A logistics drone transportation system according to claim 3, characterized in that: The vertical section and the horizontal section of the chute are connected by an arc transition.

5. A logistics drone transportation system according to any one of claims 1 to 4, characterized in that: In the initial state, the angle a between the clamping arm and the vertical plane is 10-35 degrees.

6. A logistics drone transportation system according to any one of claims 1 to 4, characterized in that: The ratio of the distance from the clamping arm rotation point to the dynamic support point to the total length of the clamping arm is 1:5-1:

3.

7. A logistics drone transportation system according to claim 6, characterized in that: The clamping end of the clamping arm is provided with a clamping plate, and the clamping plate is provided with a fixing pin.

8. A logistics drone transportation system according to claim 1, characterized in that: A lug is provided on the side of the logistics box, and a locking groove is provided on the lower side of the lug.

9. A logistics drone transportation system according to claim 1, characterized in that: The UAV landing platform is provided with a centering mechanism for adjusting the position of the UAV.

10. A logistics drone transportation system according to claim 1, characterized in that: The access robot arm includes a linear guide rail module, a moving arm and an access platform. The linear guide rail module is vertically arranged, one end of the moving arm is connected to the linear guide rail module, and the other end of the moving arm is connected to the access platform.

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