CN109334963A - A kind of accurate dispenser of unmanned plane formula express delivery take-away - Google Patents
A kind of accurate dispenser of unmanned plane formula express delivery take-away Download PDFInfo
- Publication number
- CN109334963A CN109334963A CN201811156456.1A CN201811156456A CN109334963A CN 109334963 A CN109334963 A CN 109334963A CN 201811156456 A CN201811156456 A CN 201811156456A CN 109334963 A CN109334963 A CN 109334963A
- Authority
- CN
- China
- Prior art keywords
- rotor
- electromagnet
- storage tank
- arm
- hawser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
Abstract
The invention discloses a kind of unmanned plane formula express deliveries to take out accurate dispenser, it can be used for the fast accurate dispatching of express delivery or take-away, it includes that sighting device (1), rotor tilting component (2), flying platform (3), more rotor angles adjustment component (4), rotor assemblies (5), rotor pose adjustment component (6), hawser folding and unfolding component (7), hawser movable end positioning component (8), article storage and selection component (9) and article precisely match sending component (10) that accurate dispenser is taken out in the unmanned plane formula express delivery.Freedom of motion of the invention is high, strong flexibility, and the precision that dispatching is taken out in express delivery is high and delivery process is steady, highly-safe, at low cost, high-efficient.
Description
Technical field
The present invention relates to a kind of item dispenser device, accurate dispenser and side are taken out in specifically a kind of unmanned plane formula express delivery
Method.
Background technique
Existing express delivery and the dispatching taken out by the way of manually dispensing from door to door, it is desirable that quickly wears after dispatching personnel's picking
It crosses streets and lanes and then is sent upstairs to consignee doorway, when encountering peak period on and off duty and higher floor, dispense the work of personnel
Make that risk is big, job costs are high and dispatching low efficiency.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of unmanned plane formula express deliveries to take out accurate dispenser
And method, it can be used for the fast accurate dispatching of express delivery or take-away, which is characterized in that the unmanned plane formula express delivery take-away is precisely matched
Sending device includes sighting device, rotor tilting component, flying platform, more rotor angles adjustment component, rotor assemblies, rotor pose
It adjusts component, hawser folding and unfolding component, hawser movable end positioning component, article storage and chooses component and article precisely dispatching group
Part.It includes: that flying platform belongings reach dispatching region, receive that accurate allocator is taken out in the unmanned plane formula express delivery
Article to be dispensed is chosen after the picking information of consignee, movable end positioning unmanned plane carry hawser movable end reach picking position,
The accurate of specified article is carried out to dispense, is movable according to the picking information of next consignee adjustment hawser after current item dispatching
End and the position of flying platform continue to dispense.Freedom of motion of the invention is high, strong flexibility, and the essence of dispatching is taken out in express delivery
Accuracy is high and delivery process is steady, highly-safe, at low cost, high-efficient.
To achieve the goals above, the technical solution adopted by the present invention is that: precisely dispatching is taken out in a kind of unmanned plane formula express delivery
Device, which is characterized in that it includes sighting device, rotor tilting component, flying platform, more rotor angles adjustment component, rotor
Component, rotor pose adjustment component, hawser folding and unfolding component, hawser movable end positioning component, article storage and choose component and
Article precisely matches sending component.The present invention can be used for the fast accurate dispatching of express delivery or take-away, provide environment letter by sighting device
Breath is controlled, and is adjusted component by rotor tilting component, rotor assemblies and rotor pose and is controlled unmanned plane formula express delivery take-away
Accurate dispenser circumvents barrier and quickly reaches specified region；Then by hawser folding and unfolding component folding and unfolding hawser, pass through hawser
Hawser movable end is accurately sent to picking position and is fixed by consignee by movable end positioning component, followed by article storage and
It chooses component and chooses article to be dispensed in the article stored, sending component is precisely matched finally by article and carries out express delivery or take-away
Accurate dispatching.Freedom of motion of the invention is high, strong flexibility, and the precision that dispatching is taken out in express delivery is high and delivery process is flat
Surely, highly-safe, at low cost, high-efficient.
The rotor assemblies include propeller, propeller swivel bearing, propeller carrier and propeller electric rotating
Machine；The Internal and external cycle of propeller swivel bearing is fixed with propeller and propeller carrier bolt respectively, propeller rotating electric machine
Body is bolted on propeller carrier, and output shaft and propeller are keyed, and axial by baffle and bolt
Positioning；Propeller rotating electric machine output shaft, around the rotary motion of its axis, drives propeller relative to spiral relative to its body
The rotation of paddle carrier forms the power perpendicular to rotor assemblies plane by the reaction force of air, is the express delivery of unmanned plane formula
The mobile offer precondition of accurate dispenser is provided.
The rotor pose adjustment component includes that rotor moves typed ball bearing pair, rotor moves telescopic shaft, rotor movement is hydraulic
Flexural pivot and rotor pose adjusting seat；Rotor movement typed ball bearing pair has three groups, and 120 degree of fixing end interval is welded on propeller carrying
On frame；Rotor, which moves hydraulic flexural pivot, three groups, and 120 degree of fixing end interval is welded in rotor pose adjusting seat；Rotor movement
Telescopic shaft has three groups, and both ends move typed ball bearing pair movable end with rotor respectively and rotor moves hydraulic flexural pivot movable end and is welded on one
It rises, to constitute parallel pose adjustment device, rotor moves hydraulic flexural pivot movable end and is secured relative to it end around its centre of sphere
The rotary motion of any axis of point, in conjunction with rotor movement telescopic shaft one end relative to the other end along the linear movement of its axis, spirit
Pose of the adjustment propeller carrier living relative to rotor pose adjusting seat, so as to adjust the born air reaction of rotor assemblies
The direction of power, then by the revolving speed of propeller rotating electric machine come the size of corrective action power, so that it is fast that unmanned plane formula is adjusted flexibly
The whole stress for taking out accurate dispenser is passed, movement and hovering under many attitude is realized, passes rapidly through barrier and arrive
Up to designated position；In addition, the upper circular arc of rotor pose adjusting seat is small compared with the radius of lower circular arc, air-flow flows through the speed of upper surface
Faster, according to bernoulli effect, air pressure suffered by lower surface is bigger compared with upper surface, so that generating one lifts power, motor can
To separate more power for promoting, unmanned plane formula express delivery is made to take out the movement speed of accurate dispenser faster.
The rotor tilting component includes that rotor pitch arm, rotor pitch bearing, rotor pitching motor and rotor are bowed
Face upward pedestal；Rotor pitch arm is welded and fixed with rotor pose adjusting seat, the Internal and external cycle of rotor pitch bearing respectively with rotor pitching
Arm and rotor pitching foundation bolt are fixed, and the body of rotor pitching motor is bolted on rotor pitching pedestal, defeated
Shaft and rotor pitch arm are keyed；Rotor pitching motor output shaft, around the rotary motion of its axis, passes through rotation with respect to its body
Wing pitch arm drives rotor pose adjusting seat to rotate around the axis of rotor pitching motor, to realize that urgent article precisely dispenses dress
The adaptive pitching of each rotor relative flight platform is set, the accurate dispenser of unmanned plane formula express delivery take-away is on the one hand improved and is moving
On the other hand freedom degree and flexibility in the process take out accurate dispenser in unmanned plane formula express delivery and execute express delivery or take-away
The relative angle of each rotor and flying platform is precisely adjusted flexibly when dispatching task, avoids generating interference to task execution process.
More rotor angles adjustment component includes rotor arcuate movement sliding rail and rotor arcuate movement sliding block；Rotor arc
It is 360 degree of round sliding rails that shape, which moves sliding rail, rotor arcuate movement sliding block one group four, can be on rotor arcuate movement sliding rail certainly
Such as sliding；Rotor arcuate movement sliding rail welds together with flying platform, rotor arcuate movement sliding block and rotor pitching pedestal spiral shell
Bolt is fixed；Rotor arcuate movement sliding block moves freely along rotor arcuate movement sliding rail, is driven by rotor pitching pedestal corresponding
Rotor moves freely along rotor arcuate movement sliding rail, realizes the angle adjustment between adjacent rotor, when one to two rotors occur
When failure, the relative position of each rotor of accurate dispenser is taken out in adjustment unmanned plane formula express delivery, with reach new moving equilibrium after
Continuous work.
The hawser folding and unfolding component include reel, reel swivel bearing, reel electric rotating base, reel rotating electric machine,
Hawser, pulley and cable guide；Reel electric rotating base is fixed with flying platform bolt, the Internal and external cycle of reel swivel bearing
It is fixed respectively with reel electric rotating base and reel bolt, the body of reel rotating electric machine is bolted on reel electric rotating
On base, output shaft and reel are keyed；The pulley base and cable guide of pulley are bolted on flying platform
On, hawser one end is fixed on reel, and other end winding reel is after a few, then the successively pilot hole and pulley Jing Guo cable guide
Pulley body after be fixed on hawser movable end positioning component；Reel rotating electric machine output shaft is with respect to its body around its axis
Rotary motion, band movable reel rotate about the axis thereof, realize the adaptive folding and unfolding of hawser, hawser is rolled withdrawal when not in use, is kept away
Exempt to interfere the express delivery of unmanned plane formula to take out the movement of accurate dispenser, when use releases hawser, by hawser movable end positioning group
Part is carried to delivery location and is fixed by consignee, and the accurate dispatching for express delivery or take-away provides precondition.
The hawser movable end positioning component includes hawser movable end fixing piece, movable end positioning unmanned plane and positioning
Unmanned plane fixing seat；The movable end of hawser movable end fixing piece one end and hawser is fixedly clamped, and the other end and movable end position nothing
Man-machine bolt is fixed, and positioning unmanned plane fixing seat is bolted on flying platform；Receive the picking information of consignee
Afterwards, under the premise of hawser folding and unfolding component releases hawser, movable end positions the movable end arrival picking position that unmanned plane carries hawser
It sets and by consignee that it is steady fixed, provides precondition for the accurate dispatching of urgent article；When not working, movable end positioning
Unmanned plane is realized by positioning unmanned plane fixing seat and is fixed with the position of flying platform, prevents it in the motion process of flying platform
It is middle to fall.
The article storage and selection component includes storage tank, article storing compartment, storage tank storage electromagnet, rotating arm
Rotating electric machine, rotating arm swivel bearing, rotating arm, traversing arm, linear moving apparatus, lift telescopic arm, top electromagnet are fixed
Part, storage tank choose top electromagnet, arc sliding device, bottom electromagnet fixing piece and storage tank and choose bottom electromagnetism
Iron；For storing express delivery or take-away, its main body is made storage tank of rigid plastics, and is embedded in stainless steel in bottom and top
Plate, the electromagnet after allowing to be electrically charged are adsorbed；Article storing compartment is bolted on flying platform, is provided with thereon
A certain number of storing sashes, each sash bottom are embedded with one block of storage tank storage electromagnet, after storage tank is put into sash, storage
Object case stores electromagnet and is powered, and storage tank is absorbed and fixed in article storing compartment, realizes the storage of article to be dispensed；Rotating arm
The Internal and external cycle of swivel bearing is fixed with the pedestal of rotating arm and article storing compartment bolt respectively, and the body of rotating arm rotating electric machine is logical
It crosses bolt to be fixed on article storing compartment, output shaft and rotating arm are keyed, and rotating arm rotating electric machine output shaft is with respect to its machine
The rotary motion of body drives and realizes rotating arm relative to article storing compartment around the rotation of rotating arm rotating electric machine axis；Linear movement
Device has four groups, is made of the sliding block that line slide rail and built-in driving can move freely on the slide rail, and sliding rail and traversing arm weld
Fixation is connect, sliding block is fixed with rotation arm bolt, and linear moving apparatus sliding rail drives realization traversing with respect to the linear motion of its sliding block
Arm relative rotation arm moves along a straight line the movement of device axis；Lift telescopic arm has fixing end and built-in driving that can fix end relatively
The movable end moved freely is constituted, and fixing end is welded and fixed with traversing arm, and movable end and the welding of top electromagnet fixing piece are solid
Fixed, top electromagnet fixing piece is chosen top electromagnet bolt with storage tank again and is fixed, and lift telescopic arm movable end is solid with respect to it
The linear movement of fixed end drives and realizes that storage tank chooses top electromagnet relative to traversing arm along the adaptive of lift telescopic arm axle line
It should go up and down；The arc shaped slider that arc sliding device has arc-shaped slide rail and built-in driving that can move freely on arc-shaped slide rail is constituted,
Its arc-shaped slide rail is fixed with flying platform bolt, and arc shaped slider and bottom electromagnet fixing piece bolt provide that bottom electromagnet is solid
Determine part again with storage tank choose bottom electromagnet bolt fixing, arc sliding device sliding block with respect to its sliding rail adaptive sliding,
Drive the adaptive arc sliding for realizing that storage tank chooses bottom electromagnet；After the picking information for receiving consignee, rotating arm
The rotary motion of opposite article storing compartment and the linear motion collective effect of traversing arm relative rotation arm, keep lift telescopic arm mobile
To the surface of article to be dispensed, then the movable end of lift telescopic arm declines with respect to its fixing end, and storage tank is made to choose top
Being bonded and being powered at the top of electromagnet storage tank corresponding with article to be dispensed fixes the two absorption, following storage tank storage electricity
Magnet power-off, the movable end of lift telescopic arm rises with respect to its fixing end takes out corresponding storage tank from article storing compartment；
Subsequently rotating arm is with respect to the rotary motion of article storing compartment, the linear motion and lift telescopic arm of traversing arm relative rotation arm
Movable end with respect to the descending motion collective effect of its fixing end, corresponding storage tank is placed on positioned at arc sliding device two
The storage tank of side, which is chosen in bottom electromagnet and is powered, fixes the two absorption, and last storage tank chooses top electromagnet power-off,
Lift telescopic arm movable end makes storage tank choose top electromagnet and storage tank disengaging with respect to the rising of its fixing end, and storage tank is chosen
Sliding of the bottom electromagnet on arc sliding device sliding rail drives storage tank to be moved to the middle part of arc sliding device, is storing
The accurate dispatching of case provides precondition.
The article precisely matches sending component and includes hawser moving member, hydraulic flexural pivot, dispatching electromagnet lift telescopic axis, matches
Power transmission magnet fixing member and article precisely dispense electromagnet；Driving device built in hawser moving member can move freely along hawser,
Fixing end of the fixing end of hydraulic flexural pivot with movable end respectively with hawser moving member and dispatching electromagnet lift telescopic axis is welded on
Together, the movable end for dispensing electromagnet lift telescopic axis welds together with dispatching electromagnet fixing piece again, and article precisely dispenses
Electromagnet is bolted on dispatching electromagnet fixing piece；Hydraulic flexural pivot movable end bypasses its center point with respect to its fixing end
The rotary motion of any axis, the straight line in conjunction with dispatching electromagnet lift telescopic axis movable end with respect to its fixing end along its axis move
It is dynamic, the adaptive pose adjustment for realizing that article precisely dispenses electromagnet is driven by dispatching electromagnet fixing piece；When dispatching, hawser
Moving member, hydraulic flexural pivot and dispatching electromagnet lift telescopic axis collective effect, article is precisely dispensed electromagnet with it is to be dispensed
Storage tank at the top of be bonded and be powered, then storage tank choose bottom electromagnet power-off so that storage tank and article to be dispensed
Precisely dispatching electromagnet smoothly adsorbs fixation, subsequently dispenses electromagnet lift telescopic axis and the storage tank that need to be dispensed is driven to be detached from
Storage tank chooses bottom electromagnet, is finally precisely dispensed by hawser moving member band trend picking position；After arrival, article is precisely matched
Storage tank is put down then to be driven by hawser moving member and be returned to carry out the dispatching of next storage tank by the power-off of power transmission magnet.
The present invention is a kind of accurate dispenser of unmanned plane formula express delivery take-away, and the fast accurate that can be used for express delivery or take-away is matched
It send, which is characterized in that the unmanned plane formula express delivery takes out accurate dispenser and includes sighting device, rotor tilting component, flies
Row platform, more rotor angles adjustment component, rotor assemblies, rotor pose adjustment component, hawser folding and unfolding component, hawser movable end are fixed
Hyte part, article storage and selection component and article precisely match sending component.Precisely dispatching is taken out in the unmanned plane formula express delivery
Method include: flying platform belongings reach dispatching region, receive the picking information of consignee after choose article to be dispensed,
Movable end positioning unmanned plane carries hawser movable end and reaches picking position, carries out that the accurate dispatching of article, current item is specified to match
Continue to dispense according to the position that the picking information of next consignee adjusts hawser movable end and flying platform after sending.This
The freedom of motion of invention is high, strong flexibility, express delivery take out dispatching precision is high and delivery process is steady, it is highly-safe, at
This is low, high-efficient.
Detailed description of the invention
Fig. 1 is that accurate dispenser and Method And Principle signal are taken out in a kind of unmanned plane formula express delivery provided in an embodiment of the present invention
Figure；
In figure: 1, sighting device, 2, rotor tilting component, 3, flying platform, 4, more rotor angles adjustment component, 5, rotor group
Part, 6, rotor pose adjustment component, 7, hawser folding and unfolding component, 8, hawser movable end positioning component, 9, article storage and selection group
Part, 10, article precisely match sending component.
Fig. 2 is rotor assemblies schematic illustration provided in an embodiment of the present invention；
In figure: 5.1, propeller, 5.2, propeller swivel bearing, 5.3, propeller carrier, 5.4, propeller rotating electric machine.
Fig. 3 is that rotor pose provided in an embodiment of the present invention adjusts assembly principle schematic diagram；
In figure: 6.1, rotor moves typed ball bearing pair, 6.2, rotor movement telescopic shaft, 6.3, the hydraulic flexural pivot of rotor movement, 6.4, rotor
Pose adjusting seat.
Fig. 4 is rotor tilting component schematic illustration provided in an embodiment of the present invention；
In figure: 2.1, rotor pitch arm, 2.2, rotor pitch bearing, 2.3, rotor pitching motor, 2.4, rotor pitching pedestal.
It is to avoid generating task execution that used rotor upwarp state is interfered to show that Fig. 5, which is provided in an embodiment of the present invention,
It is intended to.
Fig. 6 is that more rotor angles provided in an embodiment of the present invention adjust assembly principle schematic diagram；
In figure: 4.1, rotor arcuate movement sliding rail, 4.2, rotor arcuate movement sliding block.
Fig. 7 is quadrotor motor pattern figure provided in an embodiment of the present invention.
Fig. 8 is the three rotor motor pattern figures provided in an embodiment of the present invention when a rotor breaks down.
Fig. 9 ~ 10 are the two rotor motor pattern figures provided in an embodiment of the present invention when two rotors break down.
Figure 11 is the floating state air reaction force schematic diagram under quadrotor motor pattern provided in an embodiment of the present invention.
Figure 12 is the translation state air reaction force schematic diagram under quadrotor motor pattern provided in an embodiment of the present invention.
Figure 13 is the rollover states air reaction force schematic diagram under quadrotor motor pattern provided in an embodiment of the present invention.
Figure 14 is the side pose floating state air reaction force under quadrotor motor pattern provided in an embodiment of the present invention
Schematic diagram.
Figure 15 is hawser folding and unfolding assembly principle schematic diagram provided in an embodiment of the present invention；
In figure: 7.1, reel, 7.2, reel swivel bearing, 7.3, reel electric rotating base, 7.4, reel rotating electric machine, 7.5, cable
Rope, 7.6, pulley, 7.7, cable guide.
Figure 16 is hawser movable end positioning component schematic illustration provided in an embodiment of the present invention；
In figure: 8.1, hawser movable end fixing piece, 8.2, movable end positioning unmanned plane, 8.3, positioning unmanned plane fixing seat.
Figure 17 is article storage provided in an embodiment of the present invention and selection assembly principle schematic diagram；
In figure: 9.1, storage tank, 9.2, article storing compartment, 9.3, storage tank storage electromagnet, 9.4, rotating arm rotating electric machine,
9.5, rotating arm swivel bearing, 9.6, rotating arm, 9.7, traversing arm, 9.8, linear moving apparatus, 9.9, lift telescopic arm,
9.10, top electromagnet fixing piece, 9.11, storage tank selection top electromagnet, 9.12, arc sliding device, 9.13, bottom electricity
Magnet fixing member, 9.14, storage tank selection bottom electromagnet.
Figure 18 is that article provided in an embodiment of the present invention precisely dispenses assembly principle schematic diagram；
In figure: 10.1, hawser moving member, 10.2, hydraulic flexural pivot, 10.3, dispatching electromagnet lift telescopic axis, 10.4, match power transmission
Magnet fixing member, 10.5, article precisely dispense electromagnet.
Figure 19 is express delivery provided in an embodiment of the present invention or take-away precisely dispatching status diagram.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, being that a kind of accurate dispenser principle of unmanned plane formula express delivery take-away provided in an embodiment of the present invention is shown
It is intended to, it includes sighting device 1, rotor tilting component 2, flying platform 3, more rotor angles adjustment component 4, rotor assemblies 5, rotation
Wing pose adjusts component 6, hawser folding and unfolding component 7, hawser movable end positioning component 8, article storage and chooses component 9 and article
Precisely match sending component 10.The present invention can be used for the fast accurate dispatching of express delivery or take-away, provide environmental information by sighting device 1
It is controlled, component 6 is adjusted by rotor tilting component 2, rotor assemblies 5 and rotor pose and controls unmanned plane formula express delivery take-away
Accurate dispenser circumvents barrier and quickly reaches specified region；Then by 7 folding and unfolding hawser of hawser folding and unfolding component, pass through hawser
Hawser movable end is accurately sent to picking position and is fixed by consignee by movable end positioning component 8, followed by article storage
And choose component 9 and choose article to be dispensed in the article stored, sending component 10 is precisely matched finally by article and carries out express delivery
Or the accurate dispatching taken out.Freedom of motion of the invention is high, strong flexibility, and the precision that dispatching is taken out in express delivery is high and with passing through
It is Cheng Pingwen, highly-safe, at low cost, high-efficient.
Referring to Fig. 2, being rotor assemblies schematic illustration provided in an embodiment of the present invention, it includes propeller 5.1, spiral
Paddle swivel bearing 5.2, propeller carrier 5.3 and propeller rotating electric machine 5.4；The Internal and external cycle of propeller swivel bearing 5.2
It is fixed respectively with propeller 5.1 and 5.3 bolt of propeller carrier, the body of propeller rotating electric machine 5.4 is bolted
On propeller carrier 5.3, output shaft and propeller 5.1 are keyed, and pass through baffle and bolt axially position；Propeller
5.4 output shaft of rotating electric machine, around the rotary motion of its axis, drives propeller 5.1 to carry relative to propeller relative to its body
Frame 5.3 rotates, and forms the power perpendicular to 5 plane of rotor assemblies by the reaction force of air, is outside the express delivery of unmanned plane formula
The mobile offer precondition of accurate dispenser is provided.
Referring to Fig. 3, being rotor pose adjustment assembly principle schematic diagram provided in an embodiment of the present invention, it includes rotor fortune
Dynamic typed ball bearing pair 6.1, rotor movement telescopic shaft 6.2, rotor move hydraulic flexural pivot 6.3 and rotor pose adjusting seat 6.4；Rotor fortune
Dynamic typed ball bearing pair 6.1 has three groups, and 120 degree of fixing end interval is welded on propeller carrier 5.3；Rotor moves hydraulic flexural pivot
6.3 have three groups, and 120 degree of fixing end interval is welded in rotor pose adjusting seat 6.4；Rotor movement telescopic shaft 6.2 has three groups,
Its both ends moves 6.1 movable end of typed ball bearing pair with rotor respectively and rotor moves hydraulic 6.3 movable end of flexural pivot and welds together, thus
Parallel pose adjustment device is constituted, rotor moves hydraulic 6.3 movable end of flexural pivot and is secured relative to it end around its center point times
The rotary motion of meaning axis, in conjunction with rotor movement 6.2 one end of telescopic shaft relative to the other end along the linear movement of its axis, flexibly
Pose of the propeller carrier 5.3 relative to rotor pose adjusting seat 6.4 is adjusted, so as to adjust the born air of rotor assemblies 5
The direction of reaction force, then by the revolving speed of propeller rotating electric machine 5.4 come the size of corrective action power, so that nothing be adjusted flexibly
The whole stress of accurate dispenser is taken out in man-machine formula express delivery, is realized movement and hovering under many attitude, is passed rapidly through
Barrier reaches designated position；In addition, the upper circular arc of rotor pose adjusting seat 6.4 is small compared with the radius of lower circular arc, air-flow flows through
Faster, according to bernoulli effect, air pressure suffered by lower surface is bigger compared with upper surface for the speed of upper surface, to generate a support
Lifting force, motor can separate more power for promoting, unmanned plane formula express delivery made to take out the movement speed of accurate dispenser
Faster.
Referring to Fig. 4, being rotor tilting component schematic illustration provided in an embodiment of the present invention, it includes rotor pitch arm
2.1, rotor pitch bearing 2.2, rotor pitching motor 2.3 and rotor pitching pedestal 2.4；Rotor pitch arm 2.1 and rotor position
Appearance adjusting seat 6.4 is welded and fixed, the Internal and external cycle of rotor pitch bearing 2.2 respectively with rotor pitch arm 2.1 and rotor pitching pedestal
2.4 bolts are fixed, and the body of rotor pitching motor 2.3 is bolted on rotor pitching pedestal 2.4, output shaft and rotation
Wing pitch arm 2.1 is keyed；2.3 output shaft of rotor pitching motor, around the rotary motion of its axis, passes through rotor with respect to its body
Pitch arm 2.1 drives rotor pose adjusting seat 6.4 to rotate around the axis of rotor pitching motor 2.3, to realize urgent article essence
On the one hand the adaptive pitching of quasi- each rotor relative flight platform 3 of dispenser improves the express delivery of unmanned plane formula and takes out precisely dispatching
On the other hand the freedom degree and flexibility of device during the motion are taken out accurate dispenser in unmanned plane formula express delivery and are executed fastly
The relative angle of each rotor Yu flying platform 3 is adjusted flexibly when the accurate dispatching task passed or taken out, avoids to task execution mistake
Journey generates interference.
Referring to Fig. 5, be it is provided in an embodiment of the present invention for avoid generating task execution interfere used by rotor
Stick up status diagram.
Referring to Fig. 6, being more rotor angle adjustment assembly principle schematic diagrames provided in an embodiment of the present invention, it includes rotor
Arcuate movement sliding rail 4.1 and rotor arcuate movement sliding block 4.2；Rotor arcuate movement sliding rail 4.1 is 360 degree of round sliding rails, rotor
It arcuate movement sliding block 4.2 1 groups four, can be slided freely on rotor arcuate movement sliding rail 4.1；Rotor arcuate movement sliding rail
4.1 weld together with flying platform 3, and rotor arcuate movement sliding block 4.2 is fixed with 2.4 bolt of rotor pitching pedestal；Rotor arc
Shape moving slide block 4.2 moves freely along rotor arcuate movement sliding rail 4.1, drives corresponding rotor by rotor pitching pedestal 2.4
It is moved freely along rotor arcuate movement sliding rail 4.1, realizes the angle adjustment between adjacent rotor, when event occurs for one to two rotors
When barrier, the relative position of each rotor of accurate dispenser is taken out in adjustment unmanned plane formula express delivery, is continued with the moving equilibrium for reaching new
Work.
Referring to Fig. 7, being quadrotor motor pattern figure provided in an embodiment of the present invention.
Referring to Fig. 8, being the three rotor motor pattern figures provided in an embodiment of the present invention when a rotor breaks down.
Fig. 9 ~ 10 are please referred to, are the two rotor motor patterns provided in an embodiment of the present invention when two rotors break down
Figure.
Figure 11 ~ 14 are please referred to, are four kinds of motion state air under quadrotor motor pattern provided in an embodiment of the present invention
Reaction force schematic diagram.
Please refer to Figure 15, be hawser folding and unfolding assembly principle schematic diagram provided in an embodiment of the present invention, it include reel 7.1,
Reel swivel bearing 7.2, reel electric rotating base 7.3, reel rotating electric machine 7.4, hawser 7.5, pulley 7.6 and hawser guiding
Part 7.7；Reel electric rotating base 7.3 is fixed with 3 bolt of flying platform, the Internal and external cycle of reel swivel bearing 7.2 respectively with reel
Electric rotating base 7.3 and 7.1 bolt of reel are fixed, and the body of reel rotating electric machine 7.4 is bolted on reel electric rotating
On base 7.3, output shaft and reel 7.1 are keyed；The pulley base and cable guide 7.7 of pulley 7.6 are solid by bolt
It is scheduled on flying platform 3,7.5 one end of hawser is fixed on reel 7.1, and other end winding reel 7.1 is after a few, then successively passes through cable
It is fixed on hawser movable end positioning component 8 after the pilot hole of rope guide part 7.7 and the pulley body of pulley 7.6；Reel rotation
With respect to its body around the rotary motion of its axis, band movable reel 7.1 rotates about the axis thereof 7.4 output shaft of motor, realizes hawser 7.5
Adaptive folding and unfolding, hawser 7.5 is rolled into withdrawal when not in use, avoid interference the express delivery of unmanned plane formula take out accurate dispenser
Movement, when use, release hawser 7.5, are carried to delivery location by hawser movable end positioning component 8 and are fixed by consignee, are
The accurate dispatching of express delivery or take-away provides precondition.
Figure 16 is please referred to, is hawser movable end positioning component schematic illustration provided in an embodiment of the present invention, it includes cable
Rope movable end fixing piece 8.1, movable end positioning unmanned plane 8.2 and positioning unmanned plane fixing seat 8.3；Hawser movable end fixing piece
8.1 one end and the movable end of hawser 7.5 are fixedly clamped, and the other end is fixed with movable end positioning 8.2 bolt of unmanned plane, position nobody
Machine fixing seat 8.3 is bolted on flying platform 3；After the picking information for receiving consignee, in hawser folding and unfolding component 7
Under the premise of releasing hawser 7.5, movable end positions unmanned plane 8.2 and carries the movable end arrival picking position of hawser 7.5 and by receiving
Goods people is steady fixed by it, provides precondition for the accurate dispatching of urgent article；When not working, movable end positions unmanned plane
8.2 are fixed by the realization of positioning unmanned plane fixing seat 8.3 and the position of flying platform 3, prevent its being moved through in flying platform 3
It is fallen in journey.
Figure 17 is please referred to, is article storage provided in an embodiment of the present invention and selection assembly principle schematic diagram, it includes storage
Object case 9.1, article storing compartment 9.2, storage tank store electromagnet 9.3, rotating arm rotating electric machine 9.4, rotating arm swivel bearing
9.5, rotating arm 9.6, traversing arm 9.7, linear moving apparatus 9.8, lift telescopic arm 9.9, top electromagnet fixing piece 9.10, storage
Object case chooses top electromagnet 9.11, arc sliding device 9.12, bottom electromagnet fixing piece 9.13 and storage tank and chooses bottom
Portion's electromagnet 9.14；Storage tank 9.1 is for storing express delivery or take-away, its main body is made of rigid plastics, and in bottom and top
Portion is embedded in stainless steel plate, and the electromagnet after allowing to be electrically charged is adsorbed；Article storing compartment 9.2 is bolted on flight
On platform 3, it is provided with a certain number of storing sashes thereon, each sash bottom is embedded with one block of storage tank storage electromagnet 9.3,
After storage tank 9.1 is put into sash, storage tank stores electromagnet 9.3 and is powered, and storage tank 9.1 is absorbed and fixed at article storing compartment
In 9.2, the storage of article to be dispensed is realized；The Internal and external cycle of rotating arm swivel bearing 9.5 respectively with the pedestal and object of rotating arm 9.6
9.2 bolt of product storing compartment is fixed, and the body of rotating arm rotating electric machine 9.4 is bolted on article storing compartment 9.2, defeated
Shaft and rotating arm 9.6 are keyed, and 9.4 output shaft of rotating arm rotating electric machine drives with respect to the rotary motion of its body and realizes rotation
Pivoted arm 9.6 is relative to article storing compartment 9.2 around the rotation of 9.4 axis of rotating arm rotating electric machine；Linear moving apparatus 9.8 has four groups,
It is made of the sliding block that line slide rail and built-in driving can move freely on the slide rail, sliding rail is welded and fixed with traversing arm 9.7, sliding
Block is fixed with 9.6 bolt of rotating arm, and 9.8 sliding rail of linear moving apparatus drives with respect to the linear motion of its sliding block and realizes traversing arm
9.7 relative rotation arms 9.6 move along a straight line the movement of 9.8 axis of device；Lift telescopic arm 9.9 has fixing end and built-in driving energy
The movable end that relatively fixed end moves freely is constituted, and fixing end is welded and fixed with traversing arm 9.7, movable end and top electromagnet
Fixing piece 9.10 is welded and fixed, and top electromagnet fixing piece 9.10 is chosen 9.11 bolt of top electromagnet with storage tank again and fixed,
9.9 movable end of lift telescopic arm drives with respect to the linear movement of its fixing end and realizes that storage tank chooses 9.11 phase of top electromagnet
For traversing arm 9.7 along the adaptive lifting of 9.9 axis of lift telescopic arm；Arc sliding device 9.12 has arc-shaped slide rail and built-in
The arc shaped slider that can be moved freely on arc-shaped slide rail is driven to constitute, arc-shaped slide rail is fixed with 3 bolt of flying platform, and arc is sliding
Block and 9.13 bolt of bottom electromagnet fixing piece provide that bottom electromagnet fixing piece 9.13 chooses bottom electromagnet with storage tank again
9.14 bolts are fixed, and 9.12 sliding block of arc sliding device drives with respect to the adaptive sliding of its sliding rail and realizes that storage tank chooses bottom
The adaptive arc sliding of portion's electromagnet 9.14；After the picking information for receiving consignee, rotating arm 9.6 is with respect to article storing compartment
The linear motion collective effect of 9.2 rotary motion and traversing 9.7 relative rotation arm 9.6 of arm, is moved to lift telescopic arm 9.9
The surface of article to be dispensed, then the movable end of lift telescopic arm 9.9 declines with respect to its fixing end, and storage tank is made to choose top
Being bonded and being powered at the top of the storage tank 9.1 corresponding with article to be dispensed of electromagnet 9.11 fixes the two absorption, following storing
Case is stored electromagnet 9.3 and is powered off, the movable end of lift telescopic arm 9.9 with respect to the rising of its fixing end by corresponding storage tank 9.1 from
It is taken out in article storing compartment 9.2；Subsequently rotating arm 9.6 is opposite with respect to the rotary motion of article storing compartment 9.2, traversing arm 9.7
The linear motion of rotating arm 9.6 and the movable end of lift telescopic arm 9.9, will with respect to the descending motion collective effect of its fixing end
The storage tank that corresponding storage tank 9.1 is placed on positioned at 9.12 two sides of arc sliding device is chosen in bottom electromagnet 9.14 and is led to
Electricity fixes the two absorption, and last storage tank is chosen top electromagnet 9.11 and powered off, and 9.9 movable end of lift telescopic arm is consolidated with respect to it
Fixed end, which rises, makes storage tank choose top electromagnet 9.11 and the disengaging of storage tank 9.1, and storage tank chooses bottom electromagnet 9.14 and exists
Sliding on 9.12 sliding rail of arc sliding device drives storage tank 9.1 to be moved to the middle part of arc sliding device 9.12, is storing
The accurate dispatching of case 9.1 provides precondition.
Figure 18 is please referred to, is that article provided in an embodiment of the present invention precisely dispenses assembly principle schematic diagram, it includes hawser
Moving member 10.1, hydraulic flexural pivot 10.2, dispatching electromagnet lift telescopic axis 10.3, dispatching electromagnet fixing piece 10.4 and article
Precisely dispatching electromagnet 10.5；Driving device built in hawser moving member 10.1 can move freely, hydraulic flexural pivot along hawser 7.5
Fixing end of 10.2 fixing end and movable end respectively with hawser moving member 10.1 and dispatching electromagnet lift telescopic axis 10.3 is welded
It being connected together, the movable end for dispensing electromagnet lift telescopic axis 10.3 welds together with dispatching electromagnet fixing piece 10.4 again,
Article precisely dispenses electromagnet 10.5 and is bolted on dispatching electromagnet fixing piece 10.4；Hydraulic 10.2 movable end of flexural pivot
Its opposite fixing end bypasses the rotary motion of any axis of its center point, in conjunction with dispatching 10.3 movable end of electromagnet lift telescopic axis
Its opposite fixing end is driven by dispatching electromagnet fixing piece 10.4 along the linear movement of its axis and realizes that article precisely matches power transmission
The adaptive pose of magnet 10.5 adjusts；When dispatching, hawser moving member 10.1, hydraulic flexural pivot 10.2 and dispatching electromagnet lifting
Article is precisely dispensed and is bonded and is powered at the top of electromagnet 10.5 and storage tank 9.1 to be dispensed by 10.3 collective effect of telescopic shaft,
Then storage tank is chosen bottom electromagnet 9.14 and is powered off, so that storage tank 9.1 to be dispensed and article precisely dispense electromagnet
10.5 smoothly absorption fixations subsequently dispense electromagnet lift telescopic axis 10.3 and the storage tank 9.1 that need to be dispensed are driven to be detached from storage
Object case chooses bottom electromagnet 9.14, is finally precisely dispensed by hawser moving member 10.1 with trend picking position；After arrival, article
Precisely storage tank 9.1 is put down then to be driven by hawser moving member 10.1 and be returned to carry out next storage by the power-off of dispatching electromagnet 10.5
The dispatching of object case 9.1.
Figure 19 is please referred to, is that urgent article provided in an embodiment of the present invention precisely dispenses status diagram.
A kind of accurate allocator of unmanned plane formula express delivery take-away, which is characterized in that workflow are as follows:
1) rotor tilting component 2, more rotor angles adjustment component 4, rotor assemblies 5 and rotor pose adjust the common work of component 6
Make so that storage tank 9.1 of the carrying of flying platform 3 equipped with express delivery or take-away quick arrival dispatching region, starts reception picking letter
Breath；
2) the corresponding storage tank 9.1 of article to be dispensed is transported according to current picking information, article storage and the selection work of component 9
It send to the middle part of arc sliding device 9.12, while hawser folding and unfolding component 7 and hawser movable end positioning component 8 work together, and make
The movable end that movable end positioning unmanned plane 8.2 carries hawser 7.5 moves to picking position and is steadily fixed by consignee；
3) article precisely match sending component 10 work current item is precisely distributed to picking position；
4) continue to dispense according to the picking information of next consignee.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (9)
1. accurate dispenser is taken out in a kind of unmanned plane formula express delivery, which is characterized in that it includes sighting device (1), rotor pitching
Component (2), flying platform (3), more rotor angles adjustment component (4), rotor assemblies (5), rotor pose adjust component (6), cable
Rope folding and unfolding component (7), hawser movable end positioning component (8), article storage and selection component (9) and article precisely match sending component
(10).
2. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the rotation
Wing component (5) includes propeller (5.1), propeller swivel bearing (5.2), propeller carrier (5.3) and propeller rotation
Motor (5.4)；The Internal and external cycle of propeller swivel bearing (5.2) respectively with propeller (5.1) and propeller carrier (5.3) bolt
Fixed, the body of propeller rotating electric machine (5.4) is bolted on propeller carrier (5.3), output shaft and spiral shell
Paddle (5.1) key connection is revolved, and passes through baffle and bolt axially position；Propeller rotating electric machine (5.4) output shaft is relative to its machine
Body drives propeller (5.1) to rotate relative to propeller carrier (5.3), passes through the anti-of air around the rotary motion of its axis
Active force forms the power perpendicular to rotor assemblies (5) plane, and the movement of accurate dispenser is taken out for the express delivery of unmanned plane formula
Precondition is provided.
3. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the rotation
Wing pose adjustment component (6) includes rotor movement typed ball bearing pair (6.1), rotor movement telescopic shaft (6.2), the hydraulic flexural pivot of rotor movement
(6.3) and rotor pose adjusting seat (6.4)；Rotor movement typed ball bearing pair (6.1) has three groups, the welding of 120 degree of fixing end interval
On propeller carrier (5.3)；Rotor, which moves hydraulic flexural pivot (6.3), three groups, and 120 degree of fixing end interval is welded on rotor
In pose adjusting seat (6.4)；Rotor movement telescopic shaft (6.2) has three groups, and both ends are living with rotor movement typed ball bearing pair (6.1) respectively
Moved end and rotor move hydraulic flexural pivot (6.3) movable end and weld together, to constitute parallel pose adjustment device, rotor fortune
Hydrodynamic pressure flexural pivot (6.3) movable end is secured relative to it the rotary motion that end bypasses any axis of its center point, transports in conjunction with rotor
Relative to the other end, along the linear movement of its axis, it is opposite that propeller carrier (5.3) is adjusted flexibly in dynamic telescopic shaft (6.2) one end
In the pose of rotor pose adjusting seat (6.4), so as to adjust the direction of the born air reaction force of rotor assemblies (5), then lead to
The revolving speed for crossing propeller rotating electric machine (5.4) carrys out the size of corrective action power, so that unmanned plane formula express delivery, which is adjusted flexibly, takes out essence
The whole stress of quasi- dispenser realizes movement and hovering under many attitude, passes rapidly through barrier and reaches specific bit
It sets；In addition, the upper circular arc of rotor pose adjusting seat (6.4) is small compared with the radius of lower circular arc, air-flow flows through the speed of upper surface more
Fastly, according to bernoulli effect, air pressure suffered by lower surface is bigger compared with upper surface, so that generating one lifts power, motor can be with
More power are separated for promoting, unmanned plane formula express delivery is made to take out the movement speed of accurate dispenser faster.
4. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the rotation
Wing tilting component (2) includes rotor pitch arm (2.1), rotor pitch bearing (2.2), rotor pitching motor (2.3) and rotor
Pitching pedestal (2.4)；Rotor pitch arm (2.1) is welded and fixed with rotor pose adjusting seat (6.4), rotor pitch bearing (2.2)
Internal and external cycle fixed respectively with rotor pitch arm (2.1) and rotor pitching pedestal (2.4) bolt, rotor pitching motor (2.3)
Body is bolted on rotor pitching pedestal (2.4), and output shaft and rotor pitch arm (2.1) are keyed；Rotor is bowed
Rotary motion of motor (2.3) output shaft with respect to its body around its axis is faced upward, drives rotor pose by rotor pitch arm (2.1)
Adjusting seat (6.4) is rotated around the axis of rotor pitching motor (2.3), to realize each rotor phase of the accurate dispenser of urgent article
On the one hand adaptive pitching to flying platform (3) improves the express delivery of unmanned plane formula and takes out accurate dispenser during the motion
Freedom degree and flexibility, on the other hand take out accurate dispenser in unmanned plane formula express delivery and execute precisely matching for express delivery or take-away
The relative angle of each rotor Yu flying platform (3) is adjusted flexibly when sending task, avoids generating interference to task execution process.
5. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that described is more
It includes rotor arcuate movement sliding rail (4.1) and rotor arcuate movement sliding block (4.2) that rotor angle, which adjusts component (4),；Rotor arc
Moving sliding rail (4.1) is 360 degree of round sliding rails, rotor arcuate movement sliding block (4.2) one groups four, can be in rotor arcuate movement
Sliding rail slides freely on (4.1)；Rotor arcuate movement sliding rail (4.1) welds together with flying platform (3), rotor arcuate movement
Sliding block (4.2) is fixed with rotor pitching pedestal (2.4) bolt；Rotor arcuate movement sliding block (4.2) is along rotor arcuate movement sliding rail
(4.1) movement freely, by rotor pitching pedestal (2.4) drive corresponding rotor along rotor arcuate movement sliding rail (4.1) freely
The angle adjustment between adjacent rotor is realized in movement, and when one to two rotors break down, adjustment unmanned plane formula express delivery is taken out
The relative position of each rotor of accurate dispenser, is worked on the moving equilibrium for reaching new.
6. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the cable
Rope folding and unfolding component (7) includes reel (7.1), reel swivel bearing (7.2), reel electric rotating base (7.3), reel rotating electric machine
(7.4), hawser (7.5), pulley (7.6) and cable guide (7.7)；Reel electric rotating base (7.3) and flying platform (3)
Bolt is fixed, and the Internal and external cycle of reel swivel bearing (7.2) is solid with reel electric rotating base (7.3) and reel (7.1) bolt respectively
Fixed, the body of reel rotating electric machine (7.4) is bolted on reel electric rotating base (7.3), output shaft and reel
(7.1) it is keyed；The pulley base and cable guide (7.7) of pulley (7.6) are bolted on flying platform (3),
Hawser (7.5) one end is fixed on reel (7.1), and other end winding reel (7.1) is after a few, then successively passes through cable guide
(7.7) it is fixed on hawser movable end positioning component (8) after the pulley body of pilot hole and pulley (7.6)；Reel electric rotating
With respect to its body around the rotary motion of its axis, band movable reel (7.1) rotates about the axis thereof machine (7.4) output shaft, realizes hawser
(7.5) hawser (7.5) is rolled withdrawal when not in use by adaptive folding and unfolding, and interference unmanned plane formula express delivery take-away is avoided precisely to match
Send the movement of device, when use, releases hawser (7.5), by hawser movable end positioning component (8) carry to delivery location and by
Consignee fixes, and the accurate dispatching for express delivery or take-away provides precondition.
7. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the cable
Rope movable end positioning component (8) includes hawser movable end fixing piece (8.1), movable end positioning unmanned plane (8.2) and positioning nothing
Man-machine fixing seat (8.3)；Hawser movable end fixing piece (8.1) one end and the movable end of hawser (7.5) are fixedly clamped, the other end with
Movable end positioning unmanned plane (8.2) bolt is fixed, and positioning unmanned plane fixing seat (8.3) is bolted on flying platform (3)
On；After the picking information for receiving consignee, under the premise of hawser folding and unfolding component (7) releases hawser (7.5), movable end positioning
The movable end that unmanned plane (8.2) carries hawser (7.5) reaches picking position and is steadily fixed it by consignee, is urgent article
Accurate dispatching provide precondition；When not working, movable end positions unmanned plane (8.2) and passes through positioning unmanned plane fixing seat
(8.3) it realizes and is fixed with the position of flying platform (3), prevent it from falling in the motion process of flying platform (3).
8. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the object
Product storage and selection component (9) include storage tank (9.1), article storing compartment (9.2), storage tank storage electromagnet (9.3), rotation
Arm rotating electric machine (9.4), rotating arm swivel bearing (9.5), rotating arm (9.6), traversing arm (9.7), linear moving apparatus
(9.8), lift telescopic arm (9.9), top electromagnet fixing piece (9.10), storage tank choose top electromagnet (9.11), arc
Carriage (9.12), bottom electromagnet fixing piece (9.13) and storage tank choose bottom electromagnet (9.14)；Storage tank
(9.1) for storing express delivery or take-away, its main body is made of rigid plastics, and is embedded in stainless steel plate in bottom and top, makes
Electromagnet after it can be electrically charged is adsorbed；Article storing compartment (9.2) is bolted on flying platform (3), thereon
A certain number of storing sashes are provided with, each sash bottom is embedded with one piece of storage tank storage electromagnet (9.3), storage tank
(9.1) after being put into sash, storage tank stores electromagnet (9.3) and is powered, and storage tank (9.1) is absorbed and fixed at article storing compartment
(9.2) in, the storage of article to be dispensed is realized；The Internal and external cycle of rotating arm swivel bearing (9.5) bottom with rotating arm (9.6) respectively
Seat and article storing compartment (9.2) bolt are fixed, and the body of rotating arm rotating electric machine (9.4) is bolted on article storing compartment
(9.2) on, output shaft and rotating arm (9.6) are keyed, rotation of rotating arm rotating electric machine (9.4) output shaft relative to its body
Movement drives and realizes rotating arm (9.6) relative to article storing compartment (9.2) around the rotation of rotating arm rotating electric machine (9.4) axis；Directly
Line mobile device (9.8) has four groups, is made of the sliding block that line slide rail and built-in driving can move freely on the slide rail, sliding rail
It is welded and fixed with traversing arm (9.7), sliding block is fixed with rotating arm (9.6) bolt, and linear moving apparatus (9.8) sliding rail is with respect to its cunning
The linear motion of block drives the movement for realizing that traversing arm (9.7) relative rotation arm (9.6) moves along a straight line device (9.8) axis；
Lift telescopic arm (9.9) has fixing end and built-in driving that can fix the movable end that end moves freely relatively to constitute, fixing end with
Traversing arm (9.7) is welded and fixed, and movable end is welded and fixed with top electromagnet fixing piece (9.10), top electromagnet fixing piece
(9.10) it chooses top electromagnet (9.11) bolt with storage tank again to fix, lift telescopic arm (9.9) movable end is fixed with respect to it
The linear movement at end drives and realizes that storage tank chooses top electromagnet (9.11) relative to traversing arm (9.7) along lift telescopic arm
(9.9) the adaptive lifting of axis；Arc sliding device (9.12) has arc-shaped slide rail and built-in driving can be on arc-shaped slide rail certainly
If the arc shaped slider of movement is constituted, arc-shaped slide rail is fixed with flying platform (3) bolt, and arc shaped slider is fixed with bottom electromagnet
Part (9.13) bolt regulation, it is solid that bottom electromagnet fixing piece (9.13) chooses bottom electromagnet (9.14) bolt with storage tank again
Fixed, arc sliding device (9.12) sliding block drives with respect to the adaptive sliding of its sliding rail and realizes that storage tank chooses bottom electromagnet
(9.14) adaptive arc sliding；After the picking information for receiving consignee, rotating arm (9.6) is with respect to article storing compartment
(9.2) the linear motion collective effect of rotary motion and traversing arm (9.7) relative rotation arm (9.6), makes lift telescopic arm
(9.9) it is moved to the surface of article to be dispensed, then the movable end of lift telescopic arm (9.9) declines with respect to its fixing end, makes
Storage tank, which is chosen to be bonded and be powered at the top of top electromagnet (9.11) storage tank (9.1) corresponding with article to be dispensed, inhales the two
Attached fixation, following storage tank storage electromagnet (9.3) power-off, the movable end of lift telescopic arm (9.9) is with respect in its fixing end
It rises and takes out corresponding storage tank (9.1) from article storing compartment (9.2)；Subsequently rotating arm (9.6) is with respect to article storing compartment
(9.2) activity of the linear motion and lift telescopic arm (9.9) of rotary motion, traversing arm (9.7) relative rotation arm (9.6)
The descending motion collective effect for holding its opposite fixing end, corresponding storage tank (9.1) is placed on positioned at arc sliding device
(9.12) storage tank of two sides, which is chosen on bottom electromagnet (9.14) and is powered, fixes the two absorption, and last storage tank chooses top
Portion's electromagnet (9.11) power-off, lift telescopic arm (9.9) movable end make storage tank choose top electromagnetism with respect to the rising of its fixing end
Iron (9.11) and storage tank (9.1) are detached from, and storage tank chooses bottom electromagnet (9.14) in arc sliding device (9.12) sliding rail
On sliding drive storage tank (9.1) to be moved to the middle parts of arc sliding device (9.12), be the accurate dispatching of storage tank (9.1)
Precondition is provided.
9. accurate dispenser is taken out in a kind of unmanned plane formula express delivery according to claim 1, which is characterized in that the object
It includes hawser moving member (10.1), hydraulic flexural pivot (10.2), dispatching electromagnet lift telescopic axis that product, which precisely match sending component (10),
(10.3), electromagnet fixing piece (10.4) are dispensed and article precisely dispenses electromagnet (10.5)；In hawser moving member (10.1)
Driving device is set, can be moved freely along hawser (7.5), the fixing end and movable end of hydraulic flexural pivot (10.2) are mobile with hawser respectively
Part (10.1) and the fixing end for dispensing electromagnet lift telescopic axis (10.3) weld together, and dispense electromagnet lift telescopic axis
(10.3) movable end welds together with dispatching electromagnet fixing piece (10.4) again, and it is logical that article precisely dispenses electromagnet (10.5)
Bolt is crossed to be fixed in dispatching electromagnet fixing piece (10.4)；Hydraulic flexural pivot (10.2) movable end bypasses its ball with respect to its fixing end
The rotary motion of any axis of heart point, in conjunction with dispatching electromagnet lift telescopic axis (10.3) movable end with respect to its fixing end along its axis
The linear movement of line is driven by dispatching electromagnet fixing piece (10.4) and realizes that article precisely dispenses the adaptive of electromagnet (10.5)
Pose is answered to adjust；When dispatching, hawser moving member (10.1), hydraulic flexural pivot (10.2) and dispatching electromagnet lift telescopic axis
(10.3) article is precisely dispensed and is bonded and is powered at the top of electromagnet (10.5) and storage tank (9.1) to be dispensed by collective effect,
Then storage tank chooses bottom electromagnet (9.14) power-off, so that storage tank (9.1) to be dispensed and article precisely dispense electromagnetism
Iron (10.5) smoothly adsorbs fixation, subsequently dispenses electromagnet lift telescopic axis (10.3) and drives the storage tank that need to be dispensed
(9.1) it is detached from storage tank and chooses bottom electromagnet (9.14), it is finally accurate by hawser moving member (10.1) band trend picking position
Dispatching；After arrival, article precisely dispenses electromagnet (10.5) power-off and puts down storage tank (9.1) then by hawser moving member
(10.1) it drives and returns to carry out the dispatching of next storage tank (9.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811156456.1A CN109334963A (en) | 2018-09-30 | 2018-09-30 | A kind of accurate dispenser of unmanned plane formula express delivery take-away |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811156456.1A CN109334963A (en) | 2018-09-30 | 2018-09-30 | A kind of accurate dispenser of unmanned plane formula express delivery take-away |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109334963A true CN109334963A (en) | 2019-02-15 |
Family
ID=65308452
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811156456.1A Pending CN109334963A (en) | 2018-09-30 | 2018-09-30 | A kind of accurate dispenser of unmanned plane formula express delivery take-away |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109334963A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340005A (en) * | 2020-11-13 | 2021-02-09 | 辽宁科技大学 | Multi-rotor express unmanned aerial vehicle based on express receiving cabinet |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
| CN105947212A (en) * | 2016-05-16 | 2016-09-21 | 苏州金建达智能科技有限公司 | Intelligent fast meal delivery flying robot |
| CN106516078A (en) * | 2016-12-03 | 2017-03-22 | 叶强 | Unmanned aerial vehicle for salvage of sea garbage |
| CN206187334U (en) * | 2016-11-18 | 2017-05-24 | 哈尔滨理工大学 | Four -rotor aircraft |
| CN107626058A (en) * | 2017-11-13 | 2018-01-26 | 苏州市皎朝纳米科技有限公司 | A kind of structural fire fighting device |
| CN109334962A (en) * | 2018-09-29 | 2019-02-15 | 江苏师范大学 | A kind of accurate delivery device of urgent article of unmanned plane formula |
| CN109334961A (en) * | 2018-09-29 | 2019-02-15 | 江苏师范大学 | A kind of accurate delivery device of relief supplies |
-
2018
- 2018-09-30 CN CN201811156456.1A patent/CN109334963A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105292454A (en) * | 2015-11-06 | 2016-02-03 | 极翼机器人(上海)有限公司 | Multi-rotor-wing unmanned plane |
| CN105947212A (en) * | 2016-05-16 | 2016-09-21 | 苏州金建达智能科技有限公司 | Intelligent fast meal delivery flying robot |
| CN206187334U (en) * | 2016-11-18 | 2017-05-24 | 哈尔滨理工大学 | Four -rotor aircraft |
| CN106516078A (en) * | 2016-12-03 | 2017-03-22 | 叶强 | Unmanned aerial vehicle for salvage of sea garbage |
| CN107626058A (en) * | 2017-11-13 | 2018-01-26 | 苏州市皎朝纳米科技有限公司 | A kind of structural fire fighting device |
| CN109334962A (en) * | 2018-09-29 | 2019-02-15 | 江苏师范大学 | A kind of accurate delivery device of urgent article of unmanned plane formula |
| CN109334961A (en) * | 2018-09-29 | 2019-02-15 | 江苏师范大学 | A kind of accurate delivery device of relief supplies |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112340005A (en) * | 2020-11-13 | 2021-02-09 | 辽宁科技大学 | Multi-rotor express unmanned aerial vehicle based on express receiving cabinet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109334962A (en) | A kind of accurate delivery device of urgent article of unmanned plane formula | |
| US9908618B2 (en) | Adjustable weight distribution for drone | |
| CN108814404A (en) | A kind of unmanned plane formula high-altitude glass-cleaning machine device people | |
| CN109955049A (en) | A kind of vertical posture adjusting system can be used for large-scale assembly | |
| CN107875615B (en) | Intelligent badminton pitching machine | |
| CN109334963A (en) | A kind of accurate dispenser of unmanned plane formula express delivery take-away | |
| CN106184735A (en) | Helicopter and rotor driver thereof | |
| CN110386424A (en) | A kind of tipping bucket type disk sorting device | |
| CN218113025U (en) | Unmanned aerial vehicle hangar | |
| CN106379534B (en) | The control system that spins and aircraft | |
| CN107414863A (en) | A kind of energy-conserving and environment-protective solar-energy machine people | |
| CN205204167U (en) | Remote control's ball positioning mechanism | |
| CN109094779A (en) | A kind of electric inspection process flying robot | |
| CN110279337A (en) | A kind of unmanned plane formula high-altitude glass-cleaning machine device people | |
| CN206466154U (en) | Nose cone structure and the dirigible with it | |
| CN109334961A (en) | A kind of accurate delivery device of relief supplies | |
| CN109008772A (en) | A kind of high-altitude glass-cleaning machine device people | |
| CN109383800A (en) | A kind of accurate dispenser of express delivery take-away | |
| CN101890722A (en) | Novel three-degree-of-freedom (three-DOF) mechanical claw | |
| CN212921969U (en) | Unmanned aerial vehicle is used in survey and drawing | |
| CN205843490U (en) | Load bearing seat and use the teleoperator of this load bearing seat | |
| CN107804460A (en) | A kind of article dispensing device for ecommerce | |
| CN106364665A (en) | Flight power system and flight vehicle | |
| CN207630893U (en) | A kind of land and air double-used quadrotor | |
| CN206218208U (en) | Flying power system and aircraft |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190215 |