Double-load releasing device

Abstract

The invention discloses a double-load putting device in the field of material putting, which is used for unmanned aerial vehicle material putting and comprises a first putting assembly, a second putting assembly and a third putting assembly, the whole first putting assembly is in a strip-shaped barrel shape, internal load limiting is realized through a clamping jaw structure, and the clamping jaw structure realizes clamping through a locking block; the locking block is pushed through rotation of the steering engine, and then the clamping jaw structure is loosened. The second throwing assembly is also in a strip-shaped barrel shape as a whole, coaxially communicates with the first throwing assembly and is arranged at the bottom of the first throwing assembly, the second throwing assembly also achieves internal load limiting through a clamping jaw structure, and the unmanned aerial vehicle is fixedly connected to the first throwing assembly and the second throwing assembly; the unmanned aerial vehicle has the beneficial effects that by vertically arranging the first putting assembly and the second putting assembly which communicate with each other, two loads can be independently put, the center of the unmanned aerial vehicle cannot be transversely shifted in the putting process, the loads are vertically arranged, and the putting accuracy can be improved.

Description

Technical Field

[0001] This invention relates to the field of material delivery, specifically to a dual-load delivery device. Background Technology

[0002] With the rapid development of drone technology, multi-rotor drones have been widely used in scenarios such as logistics transportation, emergency rescue, scientific research experiments, and military missions. In these applications, precise payload delivery has become a crucial aspect of expanding the functionality of drones.

[0003] In existing technologies, multi-rotor drones often carry multiple payloads side-by-side. While this method is convenient for loading, it causes a momentary lateral shift in the drone's center of gravity during deployment, affecting its stable hovering ability and deployment accuracy. This is especially true in missions requiring accurate payload delivery to small target containers (such as cylindrical containers on the ground), where the success rate is significantly reduced.

[0004] To address the issue of center of gravity shift, some studies have proposed tandem payload configurations, arranging the payload along the UAV's center of gravity axis. While tandem payloads avoid lateral center of gravity shifts, they introduce new problems: if the release mechanism of the lower payload fails, the upper payload will be blocked, preventing deployment. Furthermore, traditional tandem payload devices often employ a single drive or unlocking mechanism, lacking redundancy and unable to achieve independent control of the upper and lower payloads. Therefore, existing devices struggle to meet mission requirements when two payloads need to be deployed to different locations.

[0005] Furthermore, existing devices often fail to maintain the payload's attitude during deployment, leading to swaying or deviation during descent and further reducing the success rate of reaching the target container. Overall, existing UAV multi-payload delivery devices still exhibit significant shortcomings in terms of stability, reliability, and accuracy.

[0006] Therefore, we propose a dual-load delivery device. Summary of the Invention

[0007] To address the aforementioned shortcomings of the prior art, the present invention provides a dual-load delivery device.

[0008] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A dual-payload delivery device for unmanned aerial vehicle (UAV) material delivery, the delivery device comprising: The first delivery component is in the shape of a strip cylinder and uses a gripper structure to limit the load inside. The gripper structure is locked by a locking block, and the locking block is pushed by a servo motor, thereby releasing the gripper structure. The second delivery component is also cylindrical in shape and is coaxially connected to the first delivery component at the bottom of the first delivery component. The second delivery component also limits the internal load through a gripper structure. The gripper structure of the second delivery component is also locked by a locking block. The locking block of the second delivery component is pushed by the rotation of a servo motor, thereby releasing the gripper structure. The servo motors of the second delivery component and the first delivery component move synchronously through a linkage structure. The UAV is fixedly connected to the first and second delivery components.

[0009] By vertically connecting the first and second delivery components, both components can carry supplies. This ensures that the drone's center of gravity does not shift laterally after the supplies are delivered to the second delivery component, thus improving the drone's delivery stability and accuracy. Furthermore, the two payloads are individually controlled by two sets of locking structures, enabling them to be delivered from different locations. The delivery posture of the payloads in both the first and second delivery components is vertical, further enhancing the accuracy of the delivery.

[0010] Further defined, the first delivery assembly includes a first load cylinder, a first servo motor, a first eccentric wheel, a first wheel groove, a first push rod, a first locking block, a first gripper, and a first locking plate; the first servo motor is slidably mounted on the outer wall of the second delivery assembly via a linkage structure and is axially positioned inward; the first eccentric wheel is fixedly connected to the output shaft of the first servo motor; the first wheel groove is oval in shape, with its inner arc diameter matching the outer diameter of the first eccentric wheel; the first wheel groove is fixedly connected to the bottom of the first push rod; the first locking block is fixedly connected to the top of the first push rod; the cylinder wall of the first load cylinder is provided with a first sleeve through which the first push rod passes; the first gripper is rotatably connected to both sides of the bottom of the first load cylinder via a rotating rod, and a notch is provided on the bottom cylinder wall of the first load cylinder for the first gripper to extend into; the first locking plate is fixedly mounted on the rotating rod end of the first gripper; the first locking plates on both sides of the first gripper are arranged opposite to each other; and the inner edge of the first locking plate is provided with a first latch that engages with the first locking block. When the output shaft of the first servo motor is above the first eccentric wheel, the first bayonet and the first locking block engage. At this time, the first locking block contacts the top of the first sleeve, and the first gripper is in a clamping state.

[0011] When loading the first delivery component, manually clamp the first gripper, causing the first locking plate to flip upwards. At this point, the distance between the first latches on both sides is greater than the width of the first locking block. Start the first servo motor to rotate until its output shaft is above the first eccentric wheel. At this point, the first locking block is at its lowest point during the entire stroke. Release the first gripper, and the first gripper will flip the first locking plate downwards due to gravity. The first latches will then engage with both ends of the first locking block, achieving clamping. The load can then be placed from top to bottom into the first load cylinder to achieve locking. This is done while the first servo motor's output shaft is above the first eccentric wheel. Even without activating the first servo motor, load loading can be achieved. Simply push the linkage structure upward manually, then manually clamp the first gripper, and then manually release the linkage structure. The linkage structure slides down due to its own gravity, causing the first locking block to slide down and engage in the first slot, thus locking. When a load needs to be released, control the first servo motor to rotate, causing the first eccentric wheel to rotate. At this time, the rotation of the first eccentric wheel in the first wheel groove will cause the first wheel groove to move up and down. When the first wheel groove moves upward, it will cause the first locking block to move upward. The first locking block disengages from the first slot, and the first gripper will open due to the gravity of the load. The first locking plate flips downward, thus releasing the load.

[0012] Further defined, the second delivery component includes a second load cylinder, a second servo motor, a second eccentric wheel, a second wheel groove, a second push rod, a second locking block, a second gripper, and a second locking plate; the second load cylinder is fixedly disposed at the bottom of the first load cylinder; The first and second servo motors are slidably mounted on the outer wall of the second load cylinder through a linkage structure and are axially positioned inward. The second eccentric wheel is fixedly connected to the output shaft of the second servo motor. The second wheel groove is also oval-shaped, with its inner arc diameter matching the outer diameter of the second eccentric wheel. The second wheel groove is fixedly connected to the top of the second push rod. The second locking block is fixedly connected to the middle of the second push rod. The cylinder wall of the second load cylinder is provided with a second sleeve through which the second push rod passes, and the second sleeve is located below the second locking block. The second gripper is rotatably connected to both sides of the bottom of the second load cylinder through a rotating rod, and a notch is opened on the bottom cylinder wall of the second load cylinder for the second gripper to extend into. The second locking plate is fixedly mounted on the rotating rod end of the second gripper. The second locking plates on both sides of the second gripper are arranged opposite each other, and a second latch is opened on the inner edge of the second locking plate to engage with the second locking block. When the output shaft of the second servo motor is above the second eccentric wheel, the second bayonet and the second locking block engage. At this time, the second locking block contacts the bottom of the second sleeve, and the second gripper is in a clamping state.

[0013] The load loading and delivery principles of the second delivery component are the same as those of the first delivery component. The load loading of the second delivery component can be performed from the top of the first load cylinder downwards or from the bottom of the second load cylinder upwards, which is very convenient.

[0014] Further defining the linkage structure, it includes a linkage plate, a slide bar, and a slide groove. The slide groove is fixedly mounted on the wall of the second load cylinder along its axial direction. The first servo motor and the second servo motor are fixedly mounted on the top and bottom of the linkage plate, respectively. The slide bar is fixedly mounted on the inner surface of the linkage plate and slidably connected to the slide groove. With the linkage plate set in this way, the first servo motor and the second servo motor are mounted on the linkage plate, and the linkage plate is slidably connected to the slide groove via the slide bar. This allows for simultaneous manual unlocking and locking of the first gripper and the second gripper, which is very convenient.

[0015] Further defined, the UAV includes a fuselage, rotors, legs, a flight control module, and a power module; the fuselage is fixedly mounted on the circumference of the first load cell and located above the first locking block; four rotors are arranged in a cross shape around the fuselage; four legs are also provided corresponding to the rotors and are tilted outwards at the bottom of the fuselage; the flight control module and the power module are both fixedly mounted on the circumference of the second load cell, with the power module located below the flight control module; the flight control module and the rotors are electrically connected, and the power module and the flight control module are electrically connected.

[0016] Furthermore, the bottom end of each support leg is fixedly connected to the circumference of the second load cylinder by two tie rods.

[0017] Furthermore, the drone also includes a depth module, which is fixedly located at the bottom of the second payload cylinder and on the outside of the second gripper; the depth module can detect the depth of the image, making the received image more accurate.

[0018] Further specifying, the UAV also includes a reconnaissance module, a heading module, an onboard computer, and an optical flow module; the reconnaissance module is fixedly mounted on the circumferential surface of the second payload cylinder on the side opposite to the flight control module, the reconnaissance module includes a reconnaissance power supply and a reconnaissance camera, the reconnaissance camera and the reconnaissance power supply are electrically connected, the heading module is fixedly mounted on the top of the fuselage, the onboard computer is fixedly mounted on the circumferential surface of the second payload cylinder on the side opposite to the linkage plate, and the optical flow module is fixedly mounted on a support leg, the onboard computer, the heading module, and the optical flow module are all electrically connected to the power supply module.

[0019] The beneficial effects of the present invention are as follows: by vertically setting up a first delivery component and a second delivery component that are connected, two payloads can be delivered separately, and the center of the UAV will not shift laterally during delivery. The payloads are arranged vertically, which can improve the accuracy of delivery. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of another aspect of the present invention; Figure 3A three-dimensional structural diagram of the dispensing device in the unlocked state; Figure 4 This is a three-dimensional structural diagram of the dispensing device in the locked state; Figure 5 This is a three-dimensional structural diagram of part of the delivery device.

[0021] The symbols for each component are as follows: First delivery assembly 1, first load cylinder 11, first servo motor 12, first eccentric wheel 13, first wheel groove 14, first push rod 15, first locking block 16, first gripper 17, first locking piece 18, first bayonet 19; Second delivery assembly 2, second load cylinder 21, second servo motor 22, second eccentric wheel 23, second wheel groove 24, second push rod 25, second locking block 26, second gripper 27, second locking piece 28, second bayonet 29; Linkage structure 3, linkage plate 31, slide bar 32, slide groove 33; UAV 4, fuselage 41, rotor 42, outrigger 43, pull rod 431; Flight control module 44, power module 45, depth module 46, reconnaissance module 47, reconnaissance power supply 471, reconnaissance camera 472, heading module 48, onboard computer 49, optical flow module 410. Detailed Implementation

[0022] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

[0023] Example: like Figures 1-5 As shown, a dual-load delivery device is used for delivery of supplies by a UAV 4. The delivery device includes a first delivery component 1, a second delivery component 2, and a linkage structure 3. The UAV 4 includes a fuselage 41, rotors 42, legs 43, a flight control module 44, a power module 45, a depth module 46, a reconnaissance module 47, a heading module 48, an onboard computer 49, and an optical flow module 410. The first delivery assembly 1 includes a first load cylinder 11, a first servo motor 12, a first eccentric wheel 13, a first wheel groove 14, a first push rod 15, a first locking block 16, a first gripper 17, and a first locking plate 18. The first servo motor 12 is slidably mounted on the outer wall of the second delivery assembly 2 via a linkage structure 3, and its output axis is axially inward. The first eccentric wheel 13 is fixedly connected to the output shaft of the first servo motor 12. The first wheel groove 14 is oval-shaped, with its inner arc diameter matching the outer diameter of the first eccentric wheel 13. The first wheel groove 14 is fixedly connected to the bottom of the first push rod 15, and the first locking block 16 is fixedly connected to the top of the first push rod 15. The cylinder wall of the first load cylinder 11 is provided with a first push rod 15 for the first push rod to be inserted. The first sleeve through which the rod 15 passes, the first gripper 17 is rotatably connected to the bottom sides of the first load cylinder 11 via a rotating rod, and the bottom wall of the first load cylinder 11 has a notch for the first gripper 17 to extend into. The first locking piece 18 is fixedly mounted on the rotating rod end of the first gripper 17. The first locking pieces 18 on the two sides of the first gripper 17 are arranged opposite to each other. The inner edge of the first locking piece 18 has a first latch 19 that engages with the first locking block 16. When the output shaft of the first servo motor 12 is located above the first eccentric wheel 13, the first latch 19 and the first locking block 16 engage. At this time, the first locking block 16 contacts the top of the first sleeve, and the first gripper 17 is in a clamped state. The second delivery assembly 2 includes a second load cylinder 21, a second servo motor 22, a second eccentric wheel 23, a second wheel groove 24, a second push rod 25, a second locking block 26, a second gripper 27, and a second locking plate 28. The second load cylinder 21 is fixedly disposed at the bottom of the first load cylinder 11. The first servo motor 12 and the second servo motor 22 are slidably disposed on the outer wall of the second load cylinder 21 through a linkage structure 3, and are axially arranged inward. The second eccentric wheel 23 is fixedly connected to the output shaft of the second servo motor 22. The second wheel groove 24 is also oval-shaped, with its inner diameter matching the outer diameter of the second eccentric wheel 23. The second wheel groove 24 is fixedly connected to the top of the second push rod 25. The second locking block 26 is fixedly connected to the middle of the second push rod 25. A second sleeve is provided for the second push rod 25 to pass through, and the second sleeve is located below the second locking block 26. The second gripper 27 is rotatably connected to both sides of the bottom of the second load cylinder 21 via a rotating rod, and a notch is provided on the bottom wall of the second load cylinder 21 for the second gripper 27 to extend into. The second locking piece 28 is fixedly provided at the end of the rotating rod of the second gripper 27. The second locking pieces 28 on the two sides of the second gripper 27 are arranged opposite to each other. The inner edge of the second locking piece 28 is provided with a second latch 29 that engages with the second locking block 26. When the output shaft of the second servo motor 22 is located above the second eccentric wheel 23, the second latch 29 engages with the second locking block 26. At this time, the second locking block 26 contacts the bottom of the second sleeve, and the second gripper 27 is in a clamping state. The linkage structure 3 includes a linkage plate 31, a slide bar 32, and a slide groove 33; the slide groove 33 is fixedly disposed on the cylinder wall of the second load cylinder 21 along the axial direction of the second load cylinder 21; the first servo motor 12 and the second servo motor 22 are respectively fixedly disposed on the top and bottom of the linkage plate 31; the slide bar 32 is fixedly disposed on the inner surface of the linkage plate 31 and is slidably connected to the slide groove 33. The fuselage 41 is fixedly fitted onto the circumferential surface of the first load cylinder 11 and located above the first locking block 16. Four rotors 42 are arranged in a cross shape around the fuselage 41. Four support legs 43 are also provided corresponding to the rotors 42, tilted outwards at the bottom of the fuselage 41. The flight control module 44 and power module 45 are both fixedly mounted on the circumferential surface of the second load cylinder 21, with the power module 45 located below the flight control module 44. The flight control module 44 is electrically connected to the rotors 42, and the power module 45 is electrically connected to the flight control module 44. The bottom end of each support leg 43 is fixedly connected to the circumferential surface of the second load cylinder 21 via two pull rods 431. Depth module 4 6 is fixedly installed at the bottom of the second load cylinder 21 and located outside the second gripper 27; the reconnaissance module 47 is fixedly installed on the circumference of the second load cylinder 21 on the side opposite to the flight control module 44. The reconnaissance module 47 includes a reconnaissance power supply 471 and a reconnaissance camera 472. The reconnaissance camera 472 and the reconnaissance power supply 471 are electrically connected. The heading module 48 is fixedly installed on the top of the fuselage 41. The onboard computer 49 is fixedly installed on the circumference of the second load cylinder 21 on the side opposite to the linkage plate 31. The optical flow module 410 is fixedly installed on a support leg 43. The onboard computer 49, the heading module 48, and the optical flow module 410 are all electrically connected to the power supply module 45.

[0024] By vertically connecting the first delivery component 1 and the second delivery component 2, both components can carry supplies. This ensures that the lateral shift of the drone 4's center of gravity is not affected after the supplies are delivered to the second delivery component 2, improving the drone 4's delivery stability and accuracy. Furthermore, the two payloads are independently controlled by two sets of locking structures, allowing for delivery from different locations. The payloads are always delivered vertically in both the first and second delivery components, further enhancing delivery accuracy. When loading the first delivery component 1, the first gripper 17 is manually clamped. This causes the first locking plate 18 to flip upwards. At this point, the distance between the first latches 19 on both sides is greater than the width of the first locking block 16. The first servo motor 12 is then activated to rotate until its output shaft is above the first eccentric wheel 13. At this point, the first locking block 16 is at its lowest point during its entire stroke. The first gripper 17 is then released, and due to gravity, it causes the first locking plate 18 to flip downwards. The first latches 19 then engage with both ends of the first locking block 16, clamping the first gripper 17. At this point, a load can be placed from top to bottom into the first load cylinder 11 to achieve locking. The first servo motor 12's output shaft is positioned above the first eccentric wheel 13. In this state, load loading can be achieved even without activating the first servo motor 12. Simply push the linkage structure 3 upwards manually, then manually clamp the first gripper 17, and then manually release the linkage structure 3. The linkage structure 3, due to its own gravity, slides down, causing the first locking block 16 to slide down and engage with the first latch 19, thus locking. When a load needs to be released, control the first servo motor 12 to rotate, causing the first eccentric wheel 13 to rotate. At this time, the rotation of the first eccentric wheel 13 within the first wheel groove 14 causes the first wheel groove 14 to move up and down. When the first wheel groove 14 moves upwards, it causes the first locking block 16 to move upwards, disengaging the first latch 19 and releasing the first gripper 17. Due to the gravity of the load, the first locking plate 18 will open and flip downwards to release the load. The load loading and release principle of the second release component 2 is the same as that of the first release component 1. The load of the second release component 2 can be loaded from the top of the first load cylinder 11 downwards or from the bottom of the second load cylinder 21 upwards, which is very convenient. With the linkage plate 31 set up in this way, the first servo motor 12 and the second servo motor 22 are set on the linkage plate 31. The linkage plate 31 is slidably connected to the slide groove 33 through the slide bar 32. The first gripper 17 and the second gripper 27 can be unlocked and locked manually at the same time, which is very convenient.

Claims

1. A dual-load delivery device, characterized in that, For use in unmanned aerial vehicle (UAV) material delivery, the delivery device includes: The first delivery component (1) is generally cylindrical and uses a gripper structure to limit the load inside. The gripper structure is locked by a locking block. The locking block is pushed by a servo motor and thus the gripper structure is released. The second delivery component (2) is also in the shape of a strip cylinder and is coaxially connected to the first delivery component (1) at the bottom of the first delivery component (1). The second delivery component (2) also limits the load inside through a gripper structure. The gripper structure of the second delivery component (2) is also locked by a locking block. The locking block of the second delivery component (2) is also pushed by the rotation of the servo motor, thereby relaxing the gripper structure. The servo motor of the second delivery component (2) and the servo motor of the first delivery component (1) move synchronously through a linkage structure (3). The UAV (4) is fixedly connected to the first delivery component (1) and the second delivery component (2).

2. The dual-load delivery device according to claim 1, characterized in that, The first delivery assembly (1) includes a first load cylinder (11), a first servo motor (12), a first eccentric wheel (13), a first wheel groove (14), a first push rod (15), a first locking block (16), a first gripper (17), and a first locking plate (18). The first servo motor (12) is slidably mounted on the outer wall of the second delivery assembly (2) via the linkage structure (3) and is axially arranged inward. The first eccentric wheel (13) is fixedly connected to the output shaft of the first servo motor (12). The first wheel groove (14) is oval in shape, with its inner arc diameter matching the outer diameter of the first eccentric wheel (13). The first wheel groove (14) is fixedly connected to the bottom of the first push rod (15). The first locking block (16) is fixedly connected to the top of the first push rod (15). The first sleeve is provided on the wall of the first load cylinder (11) for the first push rod (15) to pass through. The first gripper (17) is rotatably connected to the bottom two sides of the first load cylinder (11) through a rotating rod. The bottom wall of the first load cylinder (11) is provided with a notch for the first gripper (17) to extend into. The first locking piece (18) is fixedly provided on the rotating rod end of the first gripper (17). The first locking pieces (18) on the two sides of the first gripper (17) are arranged opposite to each other. The inner edge of the first locking piece (18) is provided with a first slot (19) that engages with the first locking block (16). When the output shaft of the first servo motor (12) is above the first eccentric wheel (13), the first bayonet (19) and the first locking block (16) engage. At this time, the first locking block (16) contacts the top of the first sleeve, and the first gripper (17) is in a clamping state.

3. The dual-load delivery device according to claim 2, characterized in that, The second delivery assembly (2) includes a second load cylinder (21), a second servo motor (22), a second eccentric wheel (23), a second wheel groove (24), a second push rod (25), a second locking block (26), a second gripper (27), and a second locking plate (28); the second load cylinder (21) is fixedly disposed at the bottom of the first load cylinder (11); The first servo motor (12) and the second servo motor (22) are slidably mounted on the outer wall of the second load cylinder (21) through the linkage structure (3) and are arranged axially inward. The second eccentric wheel (23) is fixedly connected to the output shaft of the second servo motor (22). The second wheel groove (24) is also oval in shape, with its inner arc diameter matching the outer diameter of the second eccentric wheel (23). The second wheel groove (24) is fixedly connected to the top of the second push rod (25). The second locking block (26) is fixedly connected to the middle of the second push rod (25). The cylinder wall of the second load cylinder (21) is provided with a spacer for the second servo motor (22) to engage with the second servo motor (23). The push rod (25) passes through the second sleeve, and the second sleeve is located below the second locking block (26). The second gripper (27) is rotatably connected to the bottom sides of the second load cylinder (21) through the rotating rod. The bottom wall of the second load cylinder (21) has a notch for the second gripper (27) to extend into. The second locking piece (28) is fixedly mounted on the rotating rod end of the second gripper (27). The second locking pieces (28) on the two sides of the second gripper (27) are arranged opposite to each other. The inner edge of the second locking piece (28) has a second slot (29) that engages with the second locking block (26). When the output shaft of the second servo motor (22) is above the second eccentric wheel (23), the second bayonet (29) and the second locking block (26) engage. At this time, the second locking block (26) contacts the bottom of the second sleeve, and the second gripper (27) is in a clamping state.

4. The dual-load delivery device according to claim 3, characterized in that, The linkage structure (3) includes a linkage plate (31), a slide bar (32), and a slide groove (33); the slide groove (33) is fixedly disposed on the cylinder wall of the second load cylinder (21) along the axial direction of the second load cylinder (21), the first servo motor (12) and the second servo motor (22) are respectively fixedly disposed on the top and bottom of the linkage plate (31), and the slide bar (32) is fixedly disposed on the inner surface of the linkage plate (31) and slidably connected with the slide groove (33).

5. The dual-load delivery device according to claim 4, characterized in that, The UAV (4) includes a fuselage (41), rotors (42), legs (43), a flight control module (44), and a power module (45). The fuselage (41) is fixedly mounted on the circumferential surface of the first load cylinder (11) and located above the first locking block (16). The rotors (42) are four in a cross shape and are located around the fuselage (41). The legs (43) are also four in a cross shape and are located at the bottom of the fuselage (41) and tilted outwards. The flight control module (44) and the power module (45) are both fixedly mounted on the circumferential surface of the second load cylinder (21), and the power module (45) is located below the flight control module (44). The flight control module (44) and the rotors (42) are electrically connected, and the power module (45) and the flight control module (44) are electrically connected.

6. The dual-load delivery device according to claim 5, characterized in that, The bottom end of each of the legs (43) is fixedly connected to the circumference of the second load cylinder (21) by two tie rods (431).

7. The dual-load delivery device according to claim 6, characterized in that, The drone (4) also includes a depth module (46), which is fixedly disposed at the bottom of the second load cylinder (21) and located outside the second gripper (27).

8. The dual-load delivery device according to claim 7, characterized in that, The UAV (4) also includes a reconnaissance module (47), a heading module (48), an onboard computer (49), and an optical flow module (410). The reconnaissance module (47) is fixedly mounted on the circumference of the second load cylinder (21) on the side opposite to the flight control module (44). The reconnaissance module (47) includes a reconnaissance power supply (471) and a reconnaissance camera (472). The reconnaissance camera (472) and the reconnaissance power supply (471) are electrically connected. The heading module (48) is fixedly mounted on the top of the fuselage (41). The onboard computer (49) is fixedly mounted on the circumference of the second load cylinder (21) on the side opposite to the linkage plate (31). The optical flow module (410) is fixedly mounted on one of the legs (43). The onboard computer (49), the heading module (48), and the optical flow module (410) are all electrically connected to the power supply module (45).

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