CN217416114U - Throwing device based on unmanned primary and secondary machine system - Google Patents

Abstract

The utility model discloses a put in device based on unmanned primary and secondary machine system, be in including the cabin body and setting the internal input mechanism in cabin, cabin body bottom is provided with puts in the mouth, input mechanism installs including rotating pivot and radial installation in the cabin body side wall pivot in the pivot put in the seat, put in the seat and be used for bearing and treat and put in the goods and materials, the pivot is connected with actuating mechanism under actuating mechanism's the drive, the pivot can rotate and will treat to put in goods and materials and move towards to one side down put in the mouth and put in. The utility model discloses it bears fixedly to utilize the seat of puting in to treat the input material to put in the seat and install in the pivot, utilize the rotation of pivot to drive the input of waiting on the seat of puting in and put in the material and deflect the input that realizes the material to one side, can avoid the flight in-process to treat that the input material rocks the influence to the flight process, guarantee the stability of flight, guarantee flight safety.

Description

Throwing device based on unmanned primary and secondary machine system

Technical Field

The utility model relates to an unmanned air vehicle technique field especially relates to a put in device based on unmanned primary and secondary machine system.

Background

The unmanned aerial vehicle is used as an aircraft, has the characteristics of convenience in operation, high safety coefficient, no field limitation in taking off and landing, strong environmental adaptability, strong expansibility, low price and the like, and has wide application prospects in the aspects of civil use and military use. The use characteristics that combine unmanned aerial vehicle system, it is its important application mode to utilize unmanned aerial vehicle to carry out the goods and materials input.

The existing throwing devices mainly comprise a multi-rotor unmanned aerial vehicle throwing device, a helicopter throwing device and the like, and some schemes adopt a detacher to realize the throwing of materials in a hanging mode, but the hanging mode adopted in the flying process easily causes the instability of an unmanned aerial vehicle flying platform and easily causes flying accidents; the scheme of unloading the net bag is adopted, the net bag top skirt and the net bag cage body which are woven by the net rope are utilized to realize the material throwing, the net bag is mainly used for helicopters, and the realization mode is relatively limited; some schemes that the storage barrel, the motor, the rotating wheel, the connecting plate and the fixed block are connected are adopted, the control logic is relatively complex, and the installation is relatively inconvenient; some throwing mechanisms adopt various receiving and unloading structures to realize throwing actions, and have complex mechanical structure design and large dead weight.

For example, chinese patent application publication No. CN 106043699 a discloses an unmanned aerial vehicle dispensing device, which includes a hanger and a steering engine, wherein the bottom of the hanger has a notch with a downward opening, and the hanger is connected to the steering engine through a nut and a bolt; the output shaft of the steering engine is connected with one end of a pin shaft through a connecting sheet, the other end of the pin shaft penetrates through a gap at the bottom of the hanging rack, and a thrown object is hung on the pin shaft on the inner side of the gap. This scheme comes the motion of control pin axle through the work of control steering wheel, and during the round pin axle motion, the article of being put in breaks away from round pin epaxially, falls from the breach below, because what this scheme adopted is the mode of hanging, at unmanned aerial vehicle flight in-process, causes the instability of unmanned aerial vehicle flight very easily, and then causes the flight accident.

For another example, chinese patent with publication number CN 108750115B discloses an unmanned aerial vehicle launching device, which includes a moving member, a storage box, and a first connecting mechanism disposed on the storage box, where the first connecting mechanism is used to connect the storage box to the unmanned aerial vehicle. The storage box comprises a top plate, a bottom plate and side plates; the side plates comprise a first side plate, a second side plate, a third side plate and a fourth side plate which are sequentially arranged along the circumferential direction; the bottom plate comprises a first bottom plate and a second bottom plate, and one end of the first bottom plate is connected with one end of the second bottom plate through a rotating shaft; the movable piece is connected with the rotating shaft and connected with the first side plate and the third side plate through a second connecting mechanism so as to drive the first bottom plate, the second bottom plate, the first side plate and the third side plate to move during movement; the movable piece is used for closing the storage box when moving to the first position; and opening the storage compartment when moved to the second position. This scheme realizes the input of its goods and materials of loading through the expansion of bottom plate, and there is similar part this kind of mode in fact with the mode of hanging, and the goods and materials can't effectively be fixed on the bottom plate, rocks at unmanned aerial vehicle flight in-process easily and influences flight safety.

Therefore, aiming at the defects of the prior art, how to provide a launching device with simple structure and low cost, which can complete the launching task and maintain the stability in the flying process is a technical problem to be solved urgently.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a put in device based on unmanned primary and secondary machine system to solve the problem that above-mentioned prior art exists, utilize to put in the seat and treat to put in the goods and materials and bear fixedly, and will put in the seat and install in the pivot, utilize the rotation of pivot to drive and put in the putting in the seat wait to put in the goods and materials and deflect downwards to realize putting in of goods and materials, can avoid the flight in-process to wait to put in the goods and materials and rock the influence to the flight process, guarantee the stability of flight, guarantee flight safety.

In order to achieve the above purpose, the utility model provides a following scheme:

the utility model provides a put in device based on unmanned primary and secondary machine system, be in including the cabin body and setting the internal input mechanism in cabin, cabin body bottom is provided with puts in the mouth, input mechanism installs including rotating pivot and radial installation in the cabin body lateral wall pivot in the pivot put in the seat, put in the seat and be used for bearing and treat and put in the goods and materials, the pivot is connected with actuating mechanism under actuating mechanism's the drive, the pivot can rotate and will treat to put in goods and materials and move towards to one side down put in the mouth and put in.

Preferably, the throwing seat is a mounting seat of the micro unmanned aerial vehicle, and a limiting structure for limiting the micro unmanned aerial vehicle is arranged on the mounting seat.

Preferably, the throwing seat comprises a bearing cylinder, the bearing cylinder is internally used for placing materials to be thrown, and an opening of the bearing cylinder is provided with a plug capable of being opened in a sliding mode.

Preferably, the driving mechanism comprises a connecting rod fixed on the rotating shaft along the radial direction and a push rod perpendicular to the rotating shaft, a sliding groove is formed in the connecting rod, a pin shaft is arranged on the push rod and is arranged in the sliding groove in a sliding mode, the push rod is connected with a power structure, and the push rod can push the rotating shaft to deflect under the driving of the power structure.

Preferably, be provided with a plurality ofly side by side the pivot, every the axial distribution of pivot is installed a plurality of put in the seat, and is a plurality of the pivot is connected with same the push rod.

Preferably, the throwing opening is hinged with a cabin door, and the cabin door is connected with an opening and closing mechanism.

Preferably, the opening and closing mechanism comprises a first transmission rod and a second transmission rod which are hinged, the first transmission rod is fixed on the rotating shaft along the radial direction, and the second transmission rod is hinged on the cabin door.

Preferably, the inner wall of the cabin body is provided with first reinforcing ribs which are arranged in a transverse and longitudinal cross manner.

Preferably, the cabin door is installed on the cabin body through a door frame, and the door frame and the cabin body are installed by adopting a pin-hole structure.

Preferably, the inner wall of the door frame and the inner wall of the cabin door are both provided with second reinforcing ribs, and the second reinforcing ribs are arranged in a transverse and longitudinal crossed manner.

The utility model discloses for prior art gain following technological effect:

(1) the utility model utilizes the throwing seat to bear and fix the materials to be thrown, and the throwing seat is arranged on the rotating shaft, and the rotation of the rotating shaft drives the materials to be thrown on the throwing seat to deflect obliquely downwards to throw the materials, thereby avoiding the influence of the materials to be thrown on the flying process in the flying process, ensuring the flying stability and the flying safety;

(2) the utility model discloses put in the seat including being used for placing the bearing cylinder of waiting to put in goods and materials, utilize bearing cylinder to bear the weight of goods and materials, can be convenient for retrain and load the goods and materials, and, be provided with the end cap that can slide and open at the opening part of bearing cylinder, when not putting in, can utilize the end cap to carry out spacing fixed to the goods and materials that bear, avoid it to rock and roll off, when putting in, can utilize the gravity of goods and materials own to push out the end cap and realize putting in smoothly;

(3) the utility model discloses be provided with a plurality of pivots side by side, the axial distribution of each pivot is installed a plurality of and is put in the seat, can load many supplies simultaneously to restraint alone and fix every material, a plurality of pivots can also be connected with same push rod, utilize same push rod to realize the synchro control to a plurality of putting in seats, simple structure is reliable, puts in the simple operation;

(4) the utility model discloses the input mouth is articulated to be installed the hatch door, and the hatch door is opened and closed through the switching mechanism control, and the switching mechanism is controlled through the pivot to make the switching action of hatch door and the input action of goods and materials go on in step, avoid adopting a plurality of drive arrangement to cause the input device structure complicated, reduce cost;

(5) the utility model discloses all be provided with the strengthening rib on the inner wall of the cabin body, on the inner wall of door frame and on the inner wall of hatch door, can strengthen overall structure's intensity, owing to adopt the setting of strengthening rib, can reduce the thickness of outside covering simultaneously, reduce whole quality, improve bearing capacity.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic view of the external structure of the present invention;

fig. 2 is a schematic view of the throwing mechanism of the present invention;

fig. 3 is a schematic view of another form of the dispensing mechanism of the present invention;

FIG. 4 is a schematic view of the structure of the cabin of the present invention;

FIG. 5 is a schematic view of the structure of the hatch and its door frame of the present invention;

FIG. 6 is a schematic view of the door frame structure of the present invention;

wherein, 1, a cabin body; 11. a first reinforcing rib; 2. a door frame; 3. a cabin door; 31. a second reinforcing rib; 4. a rotating shaft; 5. a pin hole structure of the pin shaft; 51. a first pin hole; 52. a second pin hole; 6. a mounting seat; 7. an opening and closing mechanism; 71. a first drive lever; 72. a second transmission rod; 8. A drive mechanism; 81. a connecting rod; 82. a push rod; 9. a microminiature unmanned aerial vehicle; 10. a carrying cylinder; 101. And (7) a plug.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

The utility model aims at providing a put in device based on unmanned primary and secondary machine system to solve the problem that prior art exists, utilize to put in the seat and treat to put in the goods and materials and bear fixedly, and will put in the seat and install in the pivot, utilize the rotation of pivot to drive and put in waiting on the seat and put in the goods and materials and deflect downwards to the input of realization goods and materials, can avoid the flight in-process to wait to put in the goods and materials and rock to the influence of flight process, guarantee the stability of flight, guarantee flight safety.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

As shown in fig. 1 ~ 6, the utility model provides a put in device based on unmanned primary and secondary machine system, including the cabin body 1 and the input mechanism of setting in the cabin body 1, the cabin body 1 can adopt streamlined design, has flat structure, connects on the ventral position of female machine through modes such as screws and flies along with the female machine. The design mode can reduce air resistance in the flying process and improve the flying efficiency; meanwhile, the skin of the cabin body 1 is integrally processed by a mould as a reinforcing and shape-preserving material, and can also play a role in protecting the throwing mechanism and materials to be thrown. The bottom of the cabin body 1 is provided with a throwing port, and materials loaded by the throwing mechanism can be thrown out of the cabin body 1 through the throwing port. The input port can adopt open design, also can be provided with hatch door 3, and when being provided with hatch door 3, hatch door 3 should be able to open when puting in goods and materials or before puting in goods and materials to avoid causing the hindrance and the influence of puting in goods and materials. The throwing mechanism comprises a rotating shaft 4 and a throwing seat, wherein the rotating shaft 4 is rotatably arranged on the side wall of the cabin body 1 and bears the weight of the rotating shaft 4 and the submachine, and a bearing structure can be arranged on the cabin body 1 to realize the rotating function of the rotating shaft 4. The rotating shaft 4 is in a horizontal state when in operation. The dispensing seat can be correspondingly configured according to the material to be dispensed, for example, the size of the dispensing seat is improved, and a special mounting seat 6 is provided. The releasing seat is radially arranged on the rotating shaft 4, and can be driven to deflect when the rotating shaft 4 rotates. The throwing seat is used for bearing the materials to be thrown, and the materials to be thrown can be driven to deflect when the throwing seat deflects, so that the bearing state is changed to the throwing state. It is noted that when the release seat is in a bearing state, the release seat can keep limited or fixed to the material to be released, so that the material is prevented from shaking or freely moving; when the throwing seat is in a throwing state, the materials can slide down by the gravity of the materials, or can be opened by controlling the limiting structure to realize smooth throwing. The pivot 4 is connected with actuating mechanism 8, and under actuating mechanism 8's drive, pivot 4 can rotate and will wait to put the goods and materials and put into the mouth and put into towards the mouth of puting in to one side down. The driving mechanism 8 may use a motor to drive the rotating shaft 4 to rotate, or may use a crank structure or the like to drive the rotating shaft 4 to rotate. The utility model discloses it bears fixedly to treat to put in the goods and materials to utilize and put in the seat to install in pivot 4, utilize the rotation of pivot 4 to drive to put in waiting on the seat and put in the goods and materials and deflect the input that realizes the goods and materials to one side, can avoid the flight in-process to treat to put in the goods and materials and rock to the influence of flight process, guarantee the stability of flight, guarantee flight safety.

Referring to fig. 2, when the material to be dropped is the micro unmanned aerial vehicle 9, the dropping seat may be the mounting seat 6 of the micro unmanned aerial vehicle 9, the mounting seat 6 is correspondingly arranged according to the structure of the micro unmanned aerial vehicle 9, and a limiting structure for limiting the micro unmanned aerial vehicle 9 may be further provided, and the micro unmanned aerial vehicle 9 is kept fixed by the limiting structure in the flying state. The limiting structure can be connected with an electromagnetic pin and other structural forms, and can be controlled by a control device to play a limiting role and release the limiting role.

Referring to fig. 3, when the material to be dropped is other material (actually, the micro unmanned aerial vehicle 9 as a sub-machine may be loaded in the carrying cylinder 10), the dropping seat may include the carrying cylinder 10, one end of the carrying cylinder 10 is closed and installed on the mounting seat 6, and the other end is open and used as an inlet and outlet for the material. The material is loaded by the loading barrel 10, so that the material can be restrained and loaded conveniently. The bearing cylinder 10 has the advantages that the inner space of the bearing cylinder 10 is used for placing materials to be put in, the plug 101 capable of being opened in a sliding mode is arranged at the opening of the bearing cylinder 10, when the materials are not put in, the plug 101 can be used for limiting and fixing the materials to be born, shaking and sliding out of the materials are avoided, and when the materials are put in, the materials can be ejected out of the plug 101 by the aid of gravity of the materials per se to achieve smooth putting.

As shown in fig. 2 and 3, the driving mechanism 8 may include a link 81 fixed to the rotation shaft 4 in a radial direction of the rotation shaft 4 and a push rod 82 disposed in a direction perpendicular to the rotation shaft 4. The connecting rod 81 is provided with a sliding groove, the push rod 82 is provided with a pin shaft, the pin shaft is arranged in the sliding groove in a sliding manner, and the pin shaft is connected with the sliding groove in a sliding manner and is also connected with the sliding groove in a rotating manner. The push rod 82 is connected with a power structure, and under the driving of the power structure, the push rod 82 can move along the axial direction of the push rod, and then the push rod 82 can push the rotating shaft 4 to rotate in a deflection way. The rotating shaft 4 can drive the throwing seat installed on the rotating shaft to deflect while deflecting, and finally deflection of the materials to be thrown is achieved. The power structure can adopt the structural forms of an electric push rod, a lead screw nut or a piston rod and the like.

The lateral wall of the cabin body 1 can be provided with a plurality of rotating shafts 4 side by side, a plurality of throwing seats are arranged in the axial direction of each rotating shaft 4, a plurality of throwing seats can be utilized to load a plurality of materials simultaneously, and each material is independently restrained and fixed. As shown in fig. 2 and 3, a case is shown where three rotating shafts 4 are provided, and three carriers 10 (micro unmanned aerial vehicles 9) are provided on each rotating shaft 4, and it should be noted that the carrier 10 (micro unmanned aerial vehicles 9) in the middle position in the drawing is omitted. A plurality of pivots 4 can be independent control respectively, also are connected with same push rod 82, utilize same push rod 82 can realize the synchro control to a plurality of seats of puting in, simple structure is reliable, has solved the problem that sets up the cost increase that a plurality of push rods 82 or a plurality of power structure brought, moreover, utilizes same push rod 82 to drive, can make the operation of puting in better convenient.

Referring to fig. 1, the cabin body 1 is hinged with cabin doors 3 at the throwing openings, the number of the throwing openings is matched with the number of the throwing seats, one throwing seat corresponds to one throwing opening, or a plurality of throwing seats correspond to the same throwing opening. The hatch door 3 is connected with an opening and closing mechanism 7, and the opening and closing mechanism 7 can adopt a structure form that a hinge shaft of the hatch door 3 is driven by a rotating motor or an electric push rod pushes the hatch door 3 and the like.

As shown in fig. 2 and 3, the opening and closing mechanism 7 may include a first transmission rod 71 and a second transmission rod 72 that are hinged to each other, the first transmission rod 71 is fixed to the rotating shaft 4 in a radial direction, and when the rotating shaft 4 rotates, the rotating shaft 4 can be used to drive the first transmission rod 71 to deflect, the second transmission rod 72 is hinged to the door 3, and when the first transmission rod 71 deflects, the second transmission rod 72 can be driven to move, so as to drive the door 3 to open or close. It should be noted that, because the opening and closing mechanism 7 is controlled by the rotating shaft 4, the opening and closing action of the cabin door 3 and the throwing action of the material are synchronously performed, thereby avoiding the increase of the complexity of the whole structure by adopting a plurality of driving devices and effectively reducing the cost.

As shown in fig. 4 to 6, the inner wall of the cabin 1 may be provided with first reinforcing ribs 11, and the first reinforcing ribs 11 are arranged crosswise and arranged according to the overall arrangement, concentrated load transmission and use requirements. The first reinforcing rib 11 is provided with a hanging mounting hole for hanging the cabin 1, so as to be convenient for bearing and transmitting the concentrated load of the master-slave system. The first reinforcing ribs 11 can enhance the structural strength of the cabin body 1, and can adopt a thinner skin to reduce the mass of the cabin body 1 and improve the bearing capacity.

The cabin door 3 can be installed on the cabin body 1 through the door frame 2, and the door frame 2 and the cabin body 1 are installed by adopting a pin-hole structure 5. The pin-pin hole structure 5 comprises a first pin hole 51 connected to the cabin body 1 and a second pin hole 52 connected to the door frame 2, the axes of the first pin hole 51 and the second pin hole 52 are overlapped, and the connection of the cabin body 1 and the door frame 2 can be realized by penetrating pin pins into the first pin hole 51 and the second pin hole 52. In addition, each pin-hole structure 5 may include a first pin hole 51 and a second pin hole 52 located on both sides of the first pin hole 51, forming a hinge-like hinge structure. The pin and pin hole structures 5 can be symmetrically arranged on two sides of the cabin body 1 and the door frame 2.

The inner wall of the door frame 2 and the inner wall of the cabin door 3 are both provided with second reinforcing ribs 31, the second reinforcing ribs 31 are arranged in a transverse and longitudinal crossed manner, and the directions of the second reinforcing ribs 31 on the door frame 2 and the second reinforcing ribs 31 on the cabin door 3 can be consistent. Through the setting of second strengthening rib 31, can strengthen the structural strength of door frame 2 and hatch door 3, reduce whole quality. In addition, in order to meet the characteristics of simple structure, light weight and low cost, the cabin body 1, the door frame 2 and the cabin door 3 can adopt a 3D printing technology and are simultaneously made of composite materials. The cabin body 1 can be integrally processed and formed by a glass fiber reinforced plastic mold by utilizing carbon fiber materials.

The working principle of the utility model is illustrated as follows:

the primary and secondary aircraft system can adopt the mixed fixed wing overall arrangement unmanned aerial vehicle of four rotors to the primary aircraft to four rotor modes VTOL, transform the flight mode, cruise with the fixed wing mode, carry out the execution of primary and secondary aircraft task afterwards.

The cabin body 1 can be processed by adopting a modular design and utilizing a 3D printing type resin material, so that all the submachine and the throwing equipment can be loaded.

The cabin body 1 is transversely provided with three rotating shafts 4, each rotating shaft 4 is provided with three bearing cylinders 10, and the bearing cylinders 10 are unfolded and closed to rotate through the rotating shafts 4. When the materials are filled, the nine plugs 101 are used for plugging the outlet of the bearing cylinder 10, so that the submachine or the materials are prevented from loosening or falling off due to flight vibration. The door frame 2 is provided with three doors 3, the doors 3 and the bearing barrels 10 adopt an interlocking design and can be opened synchronously, and the cabin body 1 is connected with the machine body through four M6 screws, so that the connection stress can be ensured to meet the requirements of vibration and impact.

According to the overall arrangement, the concentrated load transmission and the use requirements, the strength of the cabin body 1 is improved by utilizing four first reinforcing ribs 11 which are crossed transversely and vertically, and the hanging mounting holes of the cabin body 1 are designed at the first reinforcing ribs 11, so that the concentrated load of the master-slave system can be conveniently borne and transmitted. The cabin door 3 is connected with the opening and closing mechanism 7, a hinge is arranged between the cabin body 1 and the cabin door 3 for hinging, the cabin door 3 can be conveniently and smoothly opened and rotated, and a rudder angle is designed on the cabin door 3, so that the cabin door 3 can be conveniently connected with the opening and closing mechanism 7. The plug 101 is mainly used for limiting the materials filled in the carrying cylinder 10 and can be opened in a sliding manner relative to the carrying cylinder 10.

The cabin body 1 receives an opening instruction of the ground station control device, controls the power structure to drive the push rod 82 of the driving mechanism 8 to execute the opening instruction, and the bearing barrel 10 in the cabin body 1 enters a filling state after the cabin body is opened. The task load (to-be-thrown materials) or the submachine is loaded into the bearing cylinder 10 in sequence once according to the task requirement, after the loading is finished, a cabin door 3 closing instruction is sent, the cabin door 3 is driven by the rotating shaft 4 to rotate slowly, and the opening and closing mechanism 7 is driven to execute the closing action.

The cabin body 1 flies to the air along with the mother aircraft to reach a designated throwing position, an opening instruction is sent out by the ground control device, the driving mechanism 8 drives the rotating shaft 4 to move, the cabin door 3 and the bearing cylinder 10 synchronously rotate, and materials in the bearing cylinder 10 push the plug 101 open and are thrown by the throwing opening. After the throwing is finished, the ground control device sends out a closing instruction, the bearing cylinder 10 is reset under the driving of the rotating shaft 4, and the cabin door 3 is closed. The parent machine may then be returned to the floor for reloading.

The utility model discloses a concrete example is applied to explain the principle and the implementation mode of the utility model, and the explanation of the above example is only used to help understand the method and the core idea of the utility model; meanwhile, for those skilled in the art, the idea of the present invention may be changed in the specific embodiments and the application range. In summary, the content of the present specification should not be construed as a limitation of the present invention.

Claims (10)

1. The utility model provides a put in device based on unmanned primary and secondary machine system which characterized in that: including the cabin body and setting up internal input mechanism in cabin, cabin body bottom is provided with puts in the mouth, input mechanism installs including rotating pivot and radial installation in cabin lateral wall are changeed epaxial input seat, input seat is used for bearing and treats input material, the pivot is connected with actuating mechanism under actuating mechanism's the drive, the pivot can rotate and will treat to input material and move towards downwards to one side input the mouth and put in.

2. The unmanned mother-son system-based delivery device according to claim 1, wherein: the throwing seat is a mounting seat of the micro unmanned aerial vehicle, and a limiting structure for limiting the micro unmanned aerial vehicle is arranged on the mounting seat.

3. The unmanned mother-son system-based delivery device according to claim 1, wherein: the throwing seat comprises a bearing cylinder, the bearing cylinder is internally used for placing materials to be thrown, and an opening of the bearing cylinder is provided with a plug capable of being opened in a sliding mode.

4. The drone mother and son system based delivery device according to any one of claims 1-3, wherein: the driving mechanism comprises a connecting rod and a push rod, the connecting rod is fixed on the rotating shaft along the radial direction, the push rod is perpendicular to the rotating shaft, a sliding groove is formed in the connecting rod, a pin shaft is arranged on the push rod, the pin shaft is arranged in the sliding groove in a sliding mode, the push rod is connected with a power structure, and the push rod can push the rotating shaft to deflect under the driving of the power structure.

5. The drone mother and son system based delivery device of claim 4, wherein: be provided with a plurality ofly side by side the pivot, every the axial distribution of pivot is installed a plurality of put in the seat, it is a plurality of the pivot is connected with same the push rod.

6. The unmanned mother-son system-based delivery device according to claim 4, wherein: the throwing opening is hinged with a cabin door, and the cabin door is connected with an opening and closing mechanism.

7. The unmanned mother-son system-based delivery device of claim 6, wherein: the opening and closing mechanism comprises a first transmission rod and a second transmission rod which are hinged, the first transmission rod is fixed on the rotating shaft along the radial direction, and the second transmission rod is hinged on the cabin door.

8. The drone mother and son system based delivery device of claim 4, wherein: the inner wall of the cabin body is provided with first reinforcing ribs which are arranged in a transverse and longitudinal cross mode.

9. The unmanned mother-son system-based delivery device of claim 6, wherein: the cabin door is installed on the cabin body through a door frame, and the door frame and the cabin body are installed through a pin-pin hole structure.

10. The unmanned mother-son system-based delivery device of claim 9, wherein: and second reinforcing ribs are arranged on the inner wall of the door frame and the inner wall of the cabin door, and are arranged in a transverse and longitudinal crossed manner.

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