CN113247252A - Unmanned aerial vehicle and article handling system - Google Patents

Abstract

The utility model relates to an unmanned aerial vehicle and article handling system, wherein unmanned aerial vehicle includes organism (1), flight control ware and article handling mechanism (2), and article handling mechanism includes: a driver (21) fixed on the body and connected with the flight controller; and holder (22), rotationally install on the organism and be used for cooperateing with centre gripping hole (31) of waiting to unload article (3), the holder is driven by the driver so that unmanned aerial vehicle has: in the clamping state, the clamping piece is hooked in the clamping hole; and a release state in which the clamp member exits the clamp aperture, wherein the driver is in a mounted mating relationship with the clamp member such that in the clamp state the driver does not bear the weight of the article to be loaded and unloaded. Through above-mentioned technical scheme, the driver only plays the effect that the drive holder rotated and stretched into in the centre gripping hole, and the weight of article then is born by the holder, at the in-process of unmanned aerial vehicle delivery, has avoided bearing the problem that article weight and easy damage because of the driver for a long time.

Description

Unmanned aerial vehicle and article handling system

Technical Field

The utility model relates to a commodity circulation transportation field specifically relates to an unmanned aerial vehicle and article handling system.

Background

With the continuous development of the technology, the cargo transportation by using the unmanned aerial vehicle becomes an important mode of logistics distribution. At present, to the process of loading goods on unmanned aerial vehicle or unloading from unmanned aerial vehicle, still need manual operation usually, influenced the efficiency of unmanned aerial vehicle delivery. In addition, under the condition that unmanned aerial vehicle does not stop steadily completely or live equipment does not close, certain potential safety hazard still exists in manual operation.

In the related art, the goods to be loaded are usually locked and released in an electrically driven control manner, that is, the driving device drives a corresponding locking component to lock or release the goods. However, in use, for the purpose of use and cost, the load-bearing capacity of the driving device is limited, and most of the weight of the cargo is transferred to the driving device via the locking component, that is, most of the weight of the cargo is finally applied to the driving device, which causes the driving device to be more easily damaged, and the driving device is not capable of distributing the cargo with larger weight, which affects the distribution stability of the unmanned aerial vehicle.

Disclosure of Invention

The utility model aims at providing an unmanned aerial vehicle and use this unmanned aerial vehicle's article handling system, can reduce unmanned aerial vehicle's the power that the drive arrangement bore at the during operation, improve unmanned aerial vehicle at the stability of logistics distribution in-process.

In order to achieve the above object, the present disclosure provides an unmanned aerial vehicle, including organism, flight controller and article handling mechanism, article handling mechanism includes:

the driver is fixed on the machine body and connected with the flight controller; and

the clamping piece is rotatably installed on the machine body and is used for being matched with a clamping hole of an article to be loaded and unloaded, and the clamping piece is driven by the driver to enable the unmanned aerial vehicle to have:

in a clamping state, the clamping piece is hooked in the clamping hole; and

in a released state, the clamping piece exits from the clamping hole,

wherein the driver and the clamping piece are arranged in a matching relationship, so that in the clamping state, the driver does not bear the weight of the article to be loaded and unloaded.

Optionally, the driver comprises an output shaft and a rocker arm fixed to the output shaft; the article loading and unloading mechanism further comprises a connecting rod, one end of the connecting rod is rotatably connected with the rocker arm, and the other end of the connecting rod is rotatably connected with the clamping piece.

Optionally, the holder includes a swing portion and a holding portion, a first end of the swing portion is rotatably connected to the body, a second end of the swing portion is rotatably connected to the connecting rod, and the holding portion is formed at a second end of the swing portion.

Optionally, the clamping portion includes a supporting section and an extending section, which are at an angle to each other, wherein the supporting section is configured to support the article to be loaded and unloaded when the clamping portion is hooked to the clamping hole, and the extending section is configured to extend obliquely upward toward the inside of the article to be loaded and unloaded when the clamping portion is hooked to the clamping hole.

Optionally, the end of the protruding section remote from the supporting section is provided with a chamfer.

Optionally, the body is configured as a hood-like structure with an open bottom to form a space for accommodating the article to be loaded and unloaded.

Optionally, a plurality of rod-shaped landing gears are arranged at the bottom of the machine body, and the landing gears surround a containing space for containing the articles to be loaded and unloaded.

Optionally, the number of the landing gears is four, so as to form a rectangle, and a limiting rod is connected between two landing gears on two opposite sides.

Optionally, the bottom portion of the landing gear is configured as a brace having a curved surface.

Optionally, the body includes a main body portion and a bracket detachably mounted on the main body portion, and the driver and the clamp are respectively mounted on the bracket.

Alternatively, a recessed portion is formed on an outer peripheral surface of the body, and the article attaching and detaching mechanism is mounted in the recessed portion.

According to a second aspect of the present disclosure, there is also provided an article handling system comprising:

the unmanned aerial vehicle is the unmanned aerial vehicle; and

and the pushing mechanism is used for pushing the article to be loaded and unloaded to the unmanned aerial vehicle when the unmanned aerial vehicle is at the loading position, so that the article loading and unloading mechanism can grab the article to be loaded and unloaded.

Optionally, the article handling system further includes a table top for supporting the unmanned aerial vehicle, an article channel is provided below the table top, and the pushing mechanism is disposed in the article channel, so that when the unmanned aerial vehicle is in the loading position, the pushing mechanism pushes the article to be handled upwards to the unmanned aerial vehicle.

Through above-mentioned technical scheme, utilize the driver drive holder to stretch into or withdraw from the centre gripping hole of waiting to load and unload article to realize loading and uninstallation of article, whole flow is simple convenient and can go on under the condition that need not artifical the participation, when having improved article handling efficiency, can also ensure personal safety. In addition because the holder rotationally installs on the organism, the driver only plays the effect that the drive holder rotated and stretched into in the centre gripping hole, promptly under clamping state, the driver does not bear the weight of waiting to load and unload article, but only bear by the holder, at the in-process of unmanned aerial vehicle delivery, the problem of having avoided bearing article weight for a long time and damaging easily because of the driver, and compare in the driver, the bearing capacity of organism is stronger, the holder is rotationally installed on the organism, can obtain more stable support, guarantee the stability of the article of unmanned aerial vehicle delivery in-process.

Additional features and advantages of the disclosure will be set forth in the detailed description which follows.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure without limiting the disclosure. In the drawings:

fig. 1 is a schematic structural view of a drone when unloaded with an item according to an exemplary embodiment;

FIG. 2 is an enlarged view of a portion A of FIG. 1;

fig. 3 is a schematic structural view of a drone when loaded with an article according to an exemplary embodiment;

FIG. 4 is a schematic illustration of an article handling mechanism shown in operation according to an exemplary embodiment;

FIG. 5 is a schematic illustration of an article handling mechanism shown in a non-operative configuration in accordance with an exemplary embodiment;

FIG. 6 is a schematic view of an article handling system shown in accordance with an exemplary embodiment.

Description of the reference numerals

1 main body part 12 support of machine body 11

13 undercarriage 14 gag lever post 15 arm brace

16 recess 2 article loading and unloading mechanism 21 driver

22 clamping piece 221 swinging part 222 clamping part

2221 support section 2222 extending section 23 rocker arm

24 connecting rod 3 to-be-loaded and unloaded article 31 clamping hole

4 5 table-board 6 article channel of pushing mechanism

Detailed Description

The following detailed description of specific embodiments of the present disclosure is provided in connection with the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present disclosure, are given by way of illustration and explanation only, not limitation.

In the present disclosure, unless otherwise specified, use of directional words such as "upper" and "lower" generally means that the terms are defined with reference to the drawing plane of the corresponding drawing, and "inner" and "outer" mean that the corresponding part is contoured both inwardly and outwardly. The use of the terms first and second do not denote any order or importance, but rather the terms first and second are used to distinguish one element from another. In addition, when the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements, unless otherwise indicated.

As shown in fig. 1 to 3, the present disclosure provides a drone including a body 1, a flight controller, and an article handling mechanism 2. The article loading and unloading mechanism 2 comprises a driver 21 and a clamping piece 22, the driver 21 is fixed on the machine body 1 and is connected with the flight controller, and the clamping piece 22 is rotatably arranged on the machine body 1 and is used for being matched with a clamping hole 31 of an article 3 to be loaded and unloaded. The clamp 22 is driven by the driver 21 to cause the drone to have a clamped state in which the clamp 22 hooks into the clamping hole 31 and a released state in which the clamp 22 exits the clamping hole 31. Wherein the drive 21 and the clamp 22 are mounted in a mating relationship such that in the clamped state the drive 21 does not bear the weight of the article 3 to be handled.

This unmanned aerial vehicle of disclosure is provided with article handling mechanism 2, consequently can conveniently be applied to occasions such as logistics distribution, for example for the customer throw the food case, transport the express delivery. In order to enable the article loading and unloading mechanism 2 to reliably clamp the article 3 to be loaded and unloaded in the dining box and prevent the article 3 to be loaded and unloaded from slipping off the article loading and unloading mechanism 2 during the distribution process, a clamping hole 31 for being matched with the clamping piece 22 or a clamping groove for partially extending the clamping piece 22 can be arranged on the article 3 to be loaded and unloaded in advance. The clamping piece 22 is driven by the control driver 21 to extend into and hook in the clamping hole 31, so that the loading of the article 3 to be loaded and unloaded is realized. And the clamping piece 22 is not easy to slip off compared with the mode of clamping the article 3 to be loaded on the surface only by friction force in the mode of hooking the article in the clamping hole 31 to load the article. In addition, when the article 3 to be loaded and unloaded is a meal box made of paper materials and the like, the clamping force generated by the hooking mode is not directly applied to the surface of the meal box, and the problem of deformation of the meal box caused by the clamping force can be avoided. When the control actuator 21 drives the clamping member 22 to withdraw from the clamping hole 31, the article can be dropped to the designated position. The whole loading and unloading process of the unmanned aerial vehicle is simple and rapid, the efficiency of loading and unloading articles is improved, and the whole loading and unloading process can be carried out without manual participation, so that personal safety is guaranteed.

In this disclosure, the holder 22 is rotatably mounted on the body 1 of the unmanned aerial vehicle, and the driver 21 only plays a role of driving the holder 22 to rotate and extend into the holding hole 31, that is, in the holding state, the driver 21 and the holder 22 are mounted in a matching relationship so that the driver 21 does not bear the weight of the article to be loaded and unloaded, but is only borne by the holder 22. In the process that unmanned aerial vehicle delivered article, holder 22 can receive decurrent gravity, because holder 22 installs on organism 1, consequently gravity also mainly is born by organism 1 to the problem of driver 21 damage that leads to by the direct long-time atress of driver 21 has been avoided. Compare in constituting more accurate driver 21, organism 1's bearing capacity is stronger, and the space that can promote of organism 1 bearing capacity is also bigger, and holder 22 rotationally installs on organism 1, can obtain more stable support, guarantees that unmanned aerial vehicle can reliably be loaded at distribution in-process article.

The number of the article mounting and demounting mechanisms 2 in the present disclosure may be plural, for example, in the embodiment shown in fig. 1, two article mounting and demounting mechanisms 2 are included, and two clamping pieces 22 clamp the article 3 to be mounted and demounted from opposite sides, and in other embodiments, other numbers of article mounting and demounting mechanisms 3 may be designed according to the size of the actual machine model, the weight of the article 3 to be mounted and demounted, and the like.

The actuator 21 of the present disclosure may be modified by using an existing steering engine, or may also use another power source, such as a driving motor or an electric cylinder, as long as the clamping member 22 can be driven to rotate, which is not limited in the present disclosure. The flight controller in this disclosure can directly set up unmanned aerial vehicle from the controller of taking, makes it original can control the basis of a series of functions such as unmanned aerial vehicle flight on, further possesses the function of control driver 21 work, promptly in this disclosed embodiment, is used for control driver 21's control module integration on unmanned aerial vehicle's flight controller, needn't additionally set up another independent controller to improve space utilization. Of course, in other embodiments, a separate controller may be provided to control the operation of the actuator 21, in which case the flight controller and another controller that is added to control only the actuator 21 may be operated and maintained separately.

According to one embodiment of the present disclosure, as shown in fig. 4 and 5, the driver 21 may include an output shaft and a swing arm 23 fixed to the output shaft; the article loading and unloading mechanism 2 further includes a link 24, and one end of the link 24 is rotatably connected to the swing arm 23 and the other end is rotatably connected to the clamp 22. The article loading and unloading mechanism 2 is formed as a four-bar linkage mechanism, and the output shaft thereof outputs torque to drive the clamping member 22 to rotate through the connecting rod 24 so as to realize the extending or withdrawing action.

In the present disclosure, the rotational connection between the connecting rod 24 and the swing arm 23, between the connecting rod 24 and the clamping member 22, and between the clamping member 22 and the machine body 1 may be achieved through a hinged manner, specifically, a fixed hinged relationship is provided between the clamping member 22 and the machine body 1, the clamping member 22 can rotate around the fixed hinged point, and the fixed hinged manner between the clamping member 22 and the machine body 1 enables the machine body 1 to be used for bearing the downward gravity of the clamping member 22 when hooking the object 3 to be loaded or unloaded. The connecting rod 24 and the rocker 23 and the connecting rod 24 and the clamping member 22 are movably hinged, that is, the position of the hinged point is changed along with the output torque of the output shaft, so that the clamping member 22 can extend out of or withdraw from the clamping hole 31.

In other embodiments of the present disclosure, when the actuator 21 employs a linear driving motor or a telescopic electric cylinder, the output shaft may also be directly connected to the clamping member 22 to drive the clamping member 22 to rotate around the fixed hinge point, and the action of driving the clamping member 22 to extend into or withdraw from the clamping hole 31 can also be achieved.

The clamping member 22 of the present disclosure may include a swinging portion 221 and a clamping portion 222, wherein a first end of the swinging portion 221 is rotatably connected to the machine body 1 to serve as a fixed hinge point, and a second end of the swinging portion 221 is rotatably connected to the connecting rod 24, so that the swinging portion 221, the connecting rod 24 and the swinging arm 23 together form a four-bar linkage. A clamping portion 222 is formed at the second end of the swing portion 221, and as shown in fig. 4 and 5, the clamping portion 222 is formed integrally with the swing portion at the second end of the swing portion 221 to improve the strength of the clamp 22 as a whole, and a movable hinge point between the clamp 22 and the link 24 is provided at the second end of the swing portion 221. Further, the swing portion 221 and the clamping portion 222 may be provided with lightening holes, respectively, without affecting the overall strength of the clamp 22.

The clamping portion 222 includes a support section 2221 and an insertion section 2222 that are angled with respect to each other such that the clamping portion 222 is formed in a hook shape to be able to be hooked in the clamping hole 31 in a clamped state. Wherein, the supporting section 2221 is used for supporting the object 3 to be loaded and unloaded when the clamping portion 222 is hooked on the clamping hole 31, as shown in fig. 4, the supporting section 2221 may be configured as a supporting plane, the object 3 to be loaded and unloaded is supported mainly by the supporting section 2221 when the unmanned aerial vehicle delivers the object, and the length of the supporting section 2221 may be set according to practical situations, for example, when the meal box is delivered, the length of the supporting section 2221 may be configured to be the same as or slightly greater than the thickness of the meal box, so as to provide a sufficient supporting area and improve the loading reliability. The protruding section 2222 may be configured to extend obliquely upward toward the inside of the article 3 to be loaded and unloaded when the clamping portion 222 is hooked to the clamping hole 31. After holder 22 stretched into centre gripping hole 31, the section 2222 of stretching into of tilt up extension can become spacing fixed effect to the meal case, stretch into section 2222 promptly and inwards withhold the inside wall of meal case, even slightly rock because of the reason of weather or the gesture adjustment in-process in the unmanned aerial vehicle distribution, also can avoid the condition emergence of holder 22 slippage from the meal case.

The unmanned aerial vehicle of this disclosure can load and unload article under the condition that does not have artifical participation, in order to guarantee that holder 22 can stretch into centre gripping hole 31 smoothly, avoid in the in-process that stretches out interfering with article 3 that wait to unload and hook the problem of failure, as shown in fig. 4 and 5, the tip of the one end of keeping away from support section 2221 of stretching into section 2222 is provided with the chamfer, and this kind of design can be under the condition that the position of the article 3 that allows waiting to unload appears a little skew, make holder 22 still can stretch into centre gripping hole 31 smoothly. The size of the chamfer can be determined in practice according to the size of the clamping hole 31 and the allowable offset.

According to an embodiment of the present disclosure, the machine body 1 may be configured as a hood-like structure with an open bottom to form a space for accommodating the article 3 to be handled. This kind of bottom open-ended cover column structure can further save the space of organism 1 bottom, when lightening the whole weight of unmanned aerial vehicle, can also be partial hold wait to load and unload article 3, treat that load and unload article 3 form the guard action of certain degree. In addition, in the embodiment that fig. 1 shows, article handling mechanism is two, and unmanned aerial vehicle is at the in-process of delivery goods, and there is unstable problem in article 3 that waits to be loaded and unloaded in two holders 22 centre gripping, waits that article 3 that unloads to incline because of external force rocks, and with the bottom design of organism 1 for the cover form, it is spacing to treat article 3 that loads and unloads, improves the stationarity that unmanned aerial vehicle delivered the goods.

As shown in fig. 1 and 3, the bottom of the machine body 1 is provided with a plurality of rod-shaped landing gears 13, and the plurality of landing gears 13 enclose a receiving space for receiving the article 3 to be loaded and unloaded. Unmanned aerial vehicle is waiting to load article, or under the state of shutting down, undercarriage 13 can provide stable support for unmanned aerial vehicle's organism 1. Further, the number of the landing gears 13 may be four to enclose a rectangular space, which may serve as a receiving space for receiving the article 3 to be loaded and unloaded. Because the unmanned aerial vehicle of this disclosure can be used for loading article under the condition that need not artifical the participation, in order to guarantee that holder 22 can hang in centre gripping hole 31 smoothly when stretching out, need restrict the position of waiting to load and unload article 3 in the accommodating space who is enclosed by undercarriage 13 at the in-process of loading article, for this reason, this disclosure is connected with gag lever post 14 between two undercarriage 13 of relative both sides. For example, when the drone of the present disclosure is used to dispense a meal box, the distance between the landing gear 13 on opposite sides may be set to be 1-2 mm greater than the outer profile of the meal box. The limiting rod 14 is used for ensuring that the meal box can only be deviated in a limited space after being conveyed to the bottom space of the unmanned aerial vehicle, and the deviation in the space limited by the limiting rod 14 does not influence the clamping piece 22 to be hooked in the clamping hole 31 after extending out. How to realize the transfer of the article 3 to be loaded and unloaded to the bottom of the drone and the article handling system for this purpose in this disclosure will be described in detail later. Furthermore, the bottom of the landing gear 13 is configured as a foot 15 with a cambered surface. Compare in the spike 15 design for planar mode, the spike 15 of cambered surface can provide bigger area of contact, further improves the stability of unmanned aerial vehicle when waiting for or shutting down.

In order to make unmanned aerial vehicle can adapt to the article of different volume size when the delivery goods, for example have the food case of different length width height. The stick-like landing gear 13 of the present disclosure may be provided telescopically. Specifically, for example, undercarriage 13 can be by two sections or more than can cup joint the sleeve pipe that is in the same place each other and constitute, can connect through threaded fastener between the sleeve pipe, when adjusting unmanned aerial vehicle height, only need adjust the flexible volume between the sleeve pipe and again lock can. Furthermore, the method is simple. The landing gear 13 may also be configured to be translatable, that is, the landing gear 13 may slide on the machine body 1, so as to adjust the size of the accommodating space surrounded by the landing gear 13, and reasonably set the distance between the landing gears 13 on opposite sides, for example, according to the size of a meal box, the landing gear 13 may be translated to a position 1-2 mm larger than the outer contour of the meal box, so as to ensure that the clamping member 22 can be hooked in the clamping hole 31 after being extended. The translation of undercarriage 13 can be realized through for example setting up the slide rail that supplies undercarriage 13 translation on organism 1, also can be connected through the mode of screw thread retaining member between undercarriage 13 and the organism 1, after translating to suitable position, locking again can. Of course, also can realize the flexible or the translation of undercarriage 13 through the mode that sets up the driver, the driver is connected with the controller to the range sensor of cooperation setting on unmanned aerial vehicle, the height of automatically regulated undercarriage 13 and the size in the space that encloses reduce artifical process of participating in.

As shown in fig. 2, the machine body 1 includes a main body portion 11 and a bracket 12 detachably mounted on the main body portion 11, and the driver 21 and the clamp 22 are respectively mounted on the bracket 12, i.e., the driver 21 and the clamp 22 are respectively mounted on the main body portion 11 through the bracket 12. Specifically, an opening for mounting the bracket 12 may be opened on the outer peripheral surface of the main body portion 11 of the hood-like structure, and after mounting, the clamp 22 may be inserted into the clamp hole 31 of the article 3 to be mounted and dismounted, which is located inside the hood-like structure, through the opening. In order to reliably hold the article 3 to be loaded and unloaded by the article loading and unloading mechanism 2, a plurality of article loading and unloading mechanisms 2 including the actuator 21 and the clamp 22 may be provided, for example, the article loading and unloading mechanisms 2 may be provided on outer peripheral surfaces of opposite sides of the machine body 1, and two clamp holes 31 may be correspondingly formed in the article 3 to be loaded and unloaded.

The actuator 21 and the clamp 22 can be integrated in the holder 12 in advance, and can be attached to different main bodies 11 through the holder 12, thereby improving the versatility of the article attaching and detaching mechanism 2 of the present disclosure. Since the bracket 12 is installed on the main body portion 11 and collectively serves as the machine body 1, the clamping piece 22 is installed on the bracket 12, and the gravity borne by the clamping piece 22 is borne by the bracket 12 and the main body portion 11 in the process of distributing articles by the unmanned aerial vehicle. Of course, the machine body 1 may only include the main body 11, and the driver 21 and the clamping member 22 are respectively directly mounted on the main body 11, so that the machine body 1 can also receive the gravity of the article received by the clamping member 22, and the problem of easy damage caused by the direct force received by the driver 21 can be avoided.

Since the article attachment/detachment mechanism 2 is mounted on the outer peripheral surface of the hood-shaped structure body 1, in order to prevent the article attachment/detachment mechanism 2 located thereon from being damaged due to collision of the outer peripheral surface with another hard object, as shown in fig. 1 and 3, the outer peripheral surface of the body 1 may be formed with a recessed portion 16, and the article attachment/detachment mechanism 2 is mounted in the recessed portion 16. Since the article loading and unloading mechanism 2 is mounted on the recessed portion 16, even if the outer peripheral surface of the unmanned aerial vehicle collides with another hard object, the collision contact is most likely to occur at the outwardly protruding portion of the outer peripheral surface, that is, the outwardly protruding portion of the outer peripheral surface, and the article loading and unloading mechanism 2 located on the recessed portion 16 is protected from collision.

The present disclosure also provides an article handling system, as shown in fig. 6, including an unmanned aerial vehicle and a pushing mechanism 4. Wherein, unmanned aerial vehicle is aforementioned unmanned aerial vehicle to have this unmanned aerial vehicle's whole organic effect. The pushing mechanism 4 is used for pushing the article 3 to be loaded and unloaded to the unmanned aerial vehicle when the unmanned aerial vehicle is at the loading position, so that the article loading and unloading mechanism 2 can grab the article 3 to be loaded and unloaded. After article 3 to be loaded and unloaded are pushed to unmanned aerial vehicle's bottom through push mechanism 4, article loading and unloading mechanism 2 on the unmanned aerial vehicle can snatch article 3 to be loaded and unloaded to realize the full-automatic loading and the uninstallation of unmanned aerial vehicle logistics distribution flow.

Further, this article handling system still includes the mesa 5 that is used for supporting unmanned aerial vehicle, and the below of mesa 5 has article passageway 6, and push mechanism 4 sets up in article passageway 6 to make unmanned aerial vehicle be in the loading position, push mechanism 4 will wait to load and unload article 3 and upwards push to unmanned aerial vehicle. Continuing to refer to fig. 6, after the preorder task of unmanned aerial vehicle was accomplished, fly back and will fall on mesa 5, the position is shown as unmanned aerial vehicle I in fig. 6, then can be through robot tongs or push rod mechanism, carry unmanned aerial vehicle to the position as unmanned aerial vehicle II in fig. 6, be located the top of article passageway 6 promptly, in this position, can be through fixed establishment (not shown in the figure), the gag lever post 14 of the tight unmanned aerial vehicle both sides of fixation clamp for example prevents that the unmanned aerial vehicle position from taking place to remove. Push mechanism 4 can set up to the elevating platform, is carried to unmanned aerial vehicle II's position back when unmanned aerial vehicle, and push mechanism 4 upwards rises to 3 bottoms to unmanned aerial vehicle of waiting to load and unload article that will place on it in advance. Can also be provided with range finding sensor on push mechanism 4 for detect the distance between push mechanism 4 and the unmanned aerial vehicle bottom, thereby can will wait to unload article 3 propelling movement to holder 22 and stretch out the back can be with hooking in the position in centre gripping hole 31, and can avoid waiting to unload article 3 by the propelling movement excessively and touch unmanned aerial vehicle's bottom. Can also be provided with the conveyer belt in the article passageway 6, propelling movement platform 4 sets up on the conveyer belt, and the conveyer belt will wait to load and unload article 3 and transmit to the position of unmanned aerial vehicle below towards extending direction, then propelling movement platform 4 upwards will wait to load and unload article 3 propelling movement to unmanned aerial vehicle's bottom, at last again by the straining of article handling mechanism 2 and wait to load and unload article 3, prepare to carry out next delivery task.

Furthermore, the article handling system may further include the above-mentioned article 3 to be handled, in which case the article 3 to be handled serves as a storage compartment for accommodating goods to be actually delivered, and the article 3 to be handled may be, for example, a take-out box or an express box of a standard size to be engaged with the article handling mechanism 2.

According to an embodiment of the present disclosure, the holding hole 31 of the article 3 to be loaded and unloaded may be configured as a circular hole. Like this, stretch into this centre gripping hole 31 when holder 22, unmanned aerial vehicle takes off the back, waits to unload article 3 and leans on the dead weight can the lapse until the arc top of holder 22 butt and round hole, and holder 22 is fixed with centre gripping hole 31 matched with position when unmanned aerial vehicle distributes the goods promptly at every turn, and the operation is stable. For example, in the embodiment shown in fig. 1, the article to be unloaded 2 is configured in a box shape, and the corresponding positions of the two opposite side surfaces are provided with the clamping holes 31, and each clamping hole 31 is positioned on the vertical central line of the plane, so that the article to be unloaded 3 is prevented from inclining during the transportation.

In addition, in this embodiment, the clamping piece 22 and the clamping hole 31 can be designed according to a predetermined standard, and when the unmanned aerial vehicle is used for distribution, the article loading and unloading mechanism 2 and the article 3 to be loaded and unloaded are reasonably matched.

The preferred embodiments of the present disclosure are described in detail with reference to the accompanying drawings, however, the present disclosure is not limited to the specific details of the above embodiments, and various simple modifications may be made to the technical solution of the present disclosure within the technical idea of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, various possible combinations will not be separately described in this disclosure.

In addition, any combination of various embodiments of the present disclosure may be made, and the same should be considered as the disclosure of the present disclosure, as long as it does not depart from the spirit of the present disclosure.

Claims (13)

1. An unmanned aerial vehicle, includes organism (1), flight control ware and article handling mechanism (2), its characterized in that, article handling mechanism (2) includes:

a driver (21) fixed to the body (1) and connected to the flight controller; and

a clamp (22) rotatably mounted on the body (1) and intended to cooperate with a clamping hole (31) of an article (3) to be loaded and unloaded, the clamp (22) being driven by the drive (21) to make the drone have:

in a clamping state, the clamping piece (22) is hooked in the clamping hole (31); and

a released state in which the clamp (22) is withdrawn from the clamp hole (31),

wherein the driver (21) and the clamping piece (22) are arranged and matched in a manner that in the clamping state, the driver (21) does not bear the weight of the object (3) to be loaded and unloaded.

2. A drone according to claim 1, characterised in that the drive (21) comprises an output shaft and a rocker arm (23) fixed on the output shaft; the article loading and unloading mechanism (2) further comprises a connecting rod (24), one end of the connecting rod (24) is rotatably connected with the rocker arm (23), and the other end of the connecting rod (24) is rotatably connected with the clamping piece (22).

3. The drone of claim 2, wherein the clamp (22) comprises a swing portion (221) and a clamping portion (222), a first end of the swing portion (221) being rotatably connected to the body (1), a second end of the swing portion (221) being rotatably connected to the link (24), the clamping portion (222) being formed at a second end of the swing portion (221).

4. A drone according to claim 3, characterised in that the grip (222) comprises a support section (2221) and an overhanging section (2222) at an angle to each other, wherein the support section (2221) is intended to support the item to be loaded and unloaded (3) when the grip (222) is hooked to the grip hole (31), the overhanging section (2222) being configured to extend obliquely upwards towards the inside of the item to be loaded and unloaded (3) when the grip (222) is hooked to the grip hole (31).

5. A drone according to claim 4, characterised in that the end of the protruding section (2222) distal from the end of the support section (2221) is provided with a chamfer.

6. Unmanned aerial vehicle according to claim 1, characterized in that the body (1) is configured as an open-bottomed hood-like structure to form a space for accommodating the article (3) to be unloaded.

7. Unmanned aerial vehicle according to claim 1 or 6, characterized in that the bottom of the body (1) is provided with a plurality of rod-like landing gears (13), the plurality of landing gears (13) enclosing a receiving space for receiving the object (3) to be loaded and unloaded.

8. An unmanned aerial vehicle according to claim 7, wherein the number of the landing gears (13) is four, so as to define a rectangle, and a limit rod (14) is connected between two landing gears (13) on opposite sides.

9. A drone according to claim 7, characterised in that the bottom of the landing gear (13) is configured as a foot (15) with an arc.

10. Unmanned aerial vehicle according to claim 1, characterized in that the body (1) comprises a main body portion (11) and a bracket (12) detachably mounted on the main body portion (11), the driver (21) and the clamp (22) being mounted on the bracket (12), respectively.

11. The unmanned aerial vehicle of claim 1, wherein the outer peripheral surface of the machine body (1) is formed with a recessed portion (16), and the article attachment and detachment mechanism (2) is mounted in the recessed portion (16).

12. An article handling system, comprising:

a drone according to any one of claims 1 to 11; and

and the pushing mechanism is used for pushing the article to be loaded and unloaded to the unmanned aerial vehicle when the unmanned aerial vehicle is at the loading position, so that the article loading and unloading mechanism can grab the article to be loaded and unloaded.

13. The article handling system of claim 12, further comprising a table top for supporting the drone, the table top having an article channel below, the push mechanism being disposed in the article channel such that when the drone is in the loading position, the push mechanism pushes the article to be handled upward toward the drone.

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