WO2018072654A1 - 自动卸货载具及无人机 - Google Patents

自动卸货载具及无人机 Download PDF

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Publication number
WO2018072654A1
WO2018072654A1 PCT/CN2017/106123 CN2017106123W WO2018072654A1 WO 2018072654 A1 WO2018072654 A1 WO 2018072654A1 CN 2017106123 W CN2017106123 W CN 2017106123W WO 2018072654 A1 WO2018072654 A1 WO 2018072654A1
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WO
WIPO (PCT)
Prior art keywords
carrier
arms
automatic unloading
arm
carrier arms
Prior art date
Application number
PCT/CN2017/106123
Other languages
English (en)
French (fr)
Inventor
郑毅
于磊
刘艳光
巴航
崔艳君
徐金浩
窦军
刘城斌
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Priority to US16/343,558 priority Critical patent/US11345051B2/en
Publication of WO2018072654A1 publication Critical patent/WO2018072654A1/zh

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Classifications

    • 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
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • 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
    • B64D1/22—Taking-up articles from earth's surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • 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
    • 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
    • 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

Definitions

  • the present disclosure mainly relates to the field of unmanned transportation, and more particularly to an automatic unloading vehicle and a drone.
  • the drone is referred to as the "unmanned aerial vehicle” and is a flying device that is operated by radio remote control equipment and its own program control device.
  • Civilian drones have a wide range of applications, including aerial photography, agriculture, plant protection, self-timer, express delivery, disaster relief, observation of wildlife, surveillance of infectious diseases, mapping, news reports, power inspections, disaster relief, film and television shooting.
  • the drone mainly functions as a transport on the way.
  • personnel are required to cooperate, which takes up a lot of manpower.
  • the receiving personnel often need to have certain unloading experience, so as to avoid misoperation during the unloading process and make the drone unable to rise normally. air.
  • the drone needs to stay in the unloading location for a long time, until the receiving person arrives and takes out the goods before returning to the re-launch. This is bound to happen. The efficiency of the drone is greatly affected.
  • the embodiments of the present disclosure provide an automatic unloading vehicle and a drone, which can improve the transportation efficiency of the unmanned vehicle.
  • an automatic unloading carrier comprising: a mount, a plurality of carrier arms, and a carrier arm driving mechanism for fixing with an unmanned vehicle, the plurality of carrier arms being coupled to the mounting seat by the carrier arm driving mechanism, capable of being driven by the carrier arm Under the driving action of the mechanism, the plurality of carrier arms can form a space for carrying the loaded object in the collapsed state, and release the constraint on the loaded object in the open state.
  • the carrier arm includes an arm body and a support portion, the support portion is formed or disposed on the arm body, and the arm body and the support portion are in a folded state of the plurality of carrier arms Forming a support and clamping limit on the loaded object, the arm body and the support portion release the support and clamping limit of the loaded object in the opened state of the plurality of load arms.
  • the root of the arm body is hinged to the carrier arm driving mechanism, and is rotatable relative to the mounting seat under the driving of the carrier arm driving mechanism, and each of the carrier arms
  • the support portion is formed at least or disposed at a free end of the arm body, and is capable of being close to each other or separated from each other as the arm body rotates.
  • the plurality of carrier arms includes at least two sets of carrier arms, the at least two sets of carrier arms being respectively located on different sides of the object being loaded.
  • each set of said carrier arms includes at least two of said carrier arms, each set of said load arms being fixedly coupled to one another by a connector and evenly aligned with respect to a side of said object being loaded.
  • the motion planes of the different sets of the carrier arms on opposite sides coincide.
  • the cross-sectional dimension of the arm body gradually decreases from the root to the free end.
  • a reinforcing structure is provided on the arm body near the free end.
  • the arm body is provided with a plurality of lightening holes.
  • the carrier arm drive mechanism includes a power output element and a transmission element, the power output element is fixedly mounted on the mount, and the plurality of carrier arms are coupled by the transmission element, The power output element can move or rotate the plurality of carrier arms relative to the mount by outputting power to switch the open state and the collapsed state of the plurality of load arms.
  • the carrier arm includes an arm body and a support portion, the support portion is formed or disposed on the arm body, and the transmission element includes a first link and a second link, the first connection Two ends of the rod are respectively rotatably connected to the root of the arm body and the mounting seat, and two ends of the second link are respectively rotatably connected with the root of the arm body and the output end of the power output element, and The axis of rotation of the first link at the root of the arm body does not coincide with the axis of rotation of the second link at the root of the arm body.
  • the plurality of carrier arms includes at least two sets of carrier arms, each set of the carrier arms including at least two of the carrier arms, at least two of each set of the carrier arms Fixed between the roots of the arms of the carrier arm A first connecting shaft and a second connecting shaft having different rotation axes are connected, and the first connecting rod and the second connecting rod are respectively pivotally connected to the first connecting shaft and the second connecting shaft.
  • the power output component is a linear motor, a cylinder or a hydraulic cylinder, and a connection base is fixedly connected to an output end of the power output component, and an output end of the power output component passes through the connection base
  • the second link is hinged.
  • an in-position detecting switch capable of detecting whether the loaded object reaches a cargo position between the plurality of carrier arms, so that the carrier arm driving mechanism reaches the cargo at the loaded object In the position, the plurality of carrier arms are driven to gather.
  • the carrier arm drive mechanism includes a power output element and a transmission element, the power output element is fixedly mounted on the mount, and the plurality of carrier arms are coupled by the transmission element,
  • the in-position detecting switch includes a contact sensing unit, and a connecting base is fixedly connected to an output end of the power output element, and the contact sensing unit is disposed under the connecting base corresponding to a position of the object to be loaded, The triggering can be achieved by the loaded object in contact or extrusion when the loaded object reaches the loading position.
  • the touch sensing unit is a micro switch.
  • the unmanned vehicle is a drone or an unmanned vehicle
  • the carrier arm drive mechanism is automatically controlled by a controller on the drone or unmanned vehicle or by an item being loaded
  • the issuer remote control controls the opening or closing of the plurality of carrier arms.
  • the unmanned vehicle is a drone, and in the open state of the plurality of carrier arms, the free ends of the arms of at least three of the carrier arms are located at the same horizontal plane, The landing support function of the drone is realized.
  • a drone comprising a body and a flying wing, further comprising the aforementioned automatic unloading carrier, the automatic unloading carrier being fixed under the body by a mount.
  • a landing gear is further disposed below the body, the automatic unloading carrier being located between the frames of the landing gear.
  • a plurality of carrier arms are used to carry an object to be carried (abbreviated as a loaded object), and the carrier arm driving mechanism is used to drive the carrier arm to open or close to realize the pair of carrier arms.
  • the carrying and releasing of the loaded object enables automatic unloading of the loaded object by the unmanned vehicle, and does not require the receiving personnel to cooperate with the unloading, so the requirements for personnel coordination are low.
  • the unmanned vehicle can be returned to the next delivery location after unloading at the delivery location, it does not need to stay in the current unloading location for a long time, thus greatly improving the delivery efficiency of the unmanned vehicle. .
  • FIG. 1 is a schematic structural view of an embodiment of a drone of the present disclosure.
  • FIG. 2 is a schematic view showing the structure of an embodiment of the automatic unloading carrier of the present disclosure.
  • FIG. 3 is an enlarged schematic view showing the corresponding structure of the elliptical circle in FIG. 2.
  • FIG. 3 is an enlarged schematic view showing the corresponding structure of the elliptical circle in FIG. 2.
  • FIG. 4 is a schematic view showing the open state of the carrier arm of the embodiment of the automatic unloading carrier of the present disclosure.
  • Figure 5 is a schematic illustration of the collapsed state of the carrier arm of the embodiment of the automatic unloading carrier of the present disclosure.
  • FIG. 6 is an enlarged schematic view showing the positional relationship between the arm body and the support portion and the object to be loaded when the carrier arm of the embodiment of the automatic unloading carrier of the present disclosure is in the folded state.
  • FIG. 7 is a schematic structural view of another embodiment of the disclosed drone.
  • FIG. 8 is a schematic structural view of the embodiment of the UAV of FIG. 7 under no-load condition.
  • first”, “second” and the like appearing in the present disclosure are merely for convenience of description to distinguish different components having the same name, and do not indicate sequential or primary or secondary relationships.
  • orientation or positional relationship indicated by the terms “length”, “width”, “thickness” and the like is based on the orientation or positional relationship shown in the drawings, only for the convenience of describing the present disclosure. It is not intended to be a limitation or limitation of the scope of the disclosure.
  • FIG. 1 is a schematic structural view of an embodiment of the disclosed drone.
  • the drone includes a body 2, a flying wing 3, and an automatic unloading carrier 1.
  • the body 2 includes various types of electrical components and power components required for the drone, such as a circuit board, a flight control system, a battery, and the like.
  • the flying wing 3 is connected to the body 2, and is capable of performing the lifting function of the drone.
  • the flying wing 3 may take the form of a fixed wing or a rotor as shown in Fig. 1, or a combination of a fixed wing and a rotor.
  • the automatic unloading carrier 1 is a tool for carrying the object 5 to be carried, which is installed under the body 2 so as to be unloaded at any geographical position or automatically unloaded at the place of delivery as needed.
  • the unloading position can be at a preset height in the air.
  • the automatic unloading vehicle 1 can also realize the self-unloading operation after landing.
  • the automatic unloading carrier 1 specifically includes a mounting seat 11, a plurality of carrier arms 12 and a carrier arm driving mechanism.
  • the mount 11 is for fixing with an unmanned vehicle.
  • the automatic unloading carrier 1 can be fixed to the lower side of the body 2 of the drone through the mount 11.
  • a plurality of carrier arms 12 can be coupled to the mount 11 by the carrier arm drive mechanism and can be opened or closed by the driving action of the carrier arm drive mechanism.
  • the plurality of carrier arms 12 can form a space for carrying the loaded object 5 in the collapsed state, and the loaded object 5 in the space can be carried by the drone stably.
  • the constraint of the plurality of carrier arms 12 on the loaded object 5 can be released, so that the loaded object 5 can be driven by its own gravity or by other components.
  • the carrier arms 12 are disengaged.
  • the carrier arm 12 may specifically include an arm body 12a and a support portion 12b.
  • the support portion 12b may be formed on the arm body 12a, for example, the support portion may be directly milled on the arm body 12a, or the arm body 12a and the support portion 12b may be directly formed by integral molding.
  • the support portion 12b may be provided on the arm body 12a by a mounting member (for example, a round nail, a screw, or the like), a mounting structure (for example, a screw structure, an engaging structure, an adhesive structure, or the like).
  • the arm body 12a and the support portion 12b can form a supporting and clamping limit for the loaded object 5.
  • the arm body 12a and the support portion 12b can be clamped and restrained on the different sides of the object 5 to be mounted according to the cooperation with the object to be loaded, and formed on the bottom surface of the object 5 to be loaded. Supported so that the loaded object 5 can be stably carried.
  • the loaded object 5 can form the concave structure 5a on the side (which may also include the bottom surface) so that the arm body 12a is embedded therein.
  • the support portion 12b can also be embedded in the concave structure to form a supporting action on the object 5 to be loaded.
  • the carrier arm 12 can be formed to restrict the direction of the object 5 to be loaded, and the object 5 can be prevented from being swayed, thereby ensuring that the object 5 is not easily dropped during transportation.
  • the arm body 12a and the support portion 12b release the support and clamping limit of the loaded object 5 so as to be carried by the object 5 It is detached from between the carrier arms 12 by the action of its own gravity or by the driving of other components.
  • the arm body 12a is movable under the driving of the carrier arm drive mechanism, and the motion mode may include moving or rotating, or a mixed motion of movement and rotation.
  • the root of the arm body 12a shown in Fig. 2 is hinged to the carrier arm drive mechanism, and is rotatable relative to the mount 11 by the drive of the carrier arm drive mechanism.
  • the support portions 12b of the respective carrier arms 12 are formed at least at the free ends of the arm bodies 12a, and can be close to each other or separated from each other as the arm body 12a rotates.
  • the arm body 12a When the arm body 12a is expanded outwardly under driving, the free ends thereof are separated from each other, so that the support portions 12b are also relatively distant from each other, thereby releasing the supporting action on the loaded object 5.
  • the arm body 12a When the arm body 12a is folded inwardly under driving, the free ends thereof are brought closer to each other, so that the support portions 12b are close to each other until the object 5 is held firmly and a stable support is formed.
  • the support portion 12b may be disposed at other positions of the arm body 12a, for example, at other positions of the arm body 12a, for example, the middle portion or the middle portion of the arm body 12a, and more support portions may be added to obtain a more stable support function, correspondingly
  • a structure that cooperates with the support portion 12b may be formed or provided on the outer contour of the object to be loaded.
  • the plurality of carrier arms 12 can be selected to include at least two sets of loads.
  • the arm 12 has at least two sets of carrier arms 12 respectively located on different sides of the object 5 to be mounted to form a plurality of side clamping limits and support for the object to be loaded.
  • the carrier arm 12 shown in FIG. 2 includes two groups, which are respectively located on opposite sides of the object 5 to be loaded, and correspondingly, two sets of carrier arms 12 may be disposed on the opposite side of the other vertical direction of the object to be loaded 5, To form a more stable clamping limit and support.
  • the number and position of the carrier arms 5 can be considered in consideration of factors such as the shape and weight range of the loaded object, and the load capacity of the drone.
  • the planes of motion of the different sets of said carrier arms 12 on the opposite side coincide.
  • the moving planes of the different sets of the carrying arms 12 on the opposite side may not coincide, and it is only necessary to ensure that the center of gravity of the loaded object falls between the respective carrying arms 12.
  • the cross-sectional dimension of the arm body 12a from the root to the free end can be gradually reduced, so that the mass of the larger root is closer to the pivot and the quality of the free end of the farther position is higher. Small, thereby reducing the drive torque, making the drive easier.
  • a structure having the same cross-sectional dimension from the root to the free end, or other cross-sectional size relationship may be employed as long as the arm body 12a can be driven to move, and the loaded object can be realized together with the support portion 12b. 5 clamping limit and support can be.
  • a reinforcing structure 12c such as the plurality of sets of protrusions shown in FIG. 2, may be provided on the arm body 12a near the free end, and the protrusions may make the free end for carrying the portion of the object 5 to be less deformed or It is not easy to cause a large deformation, thereby ensuring a more stable support of the loaded object 5.
  • the weight of the automatic unloading carrier 1 can be reduced by minimizing the weight of the arm body 12a.
  • it can be selected on the arm body 12a.
  • a plurality of lightening holes 12d are opened.
  • the carrier arm drive mechanism can directly drive the movement of the carrier arm 12, which can specifically include the power take-off element 13 and the transmission element 14.
  • the power output element 13 is fixedly mounted on the mounting seat 11 and connected to the plurality of carrier arms 12 via the transmission element 14.
  • the power output element 13 can move or rotate the plurality of carrier arms 12 relative to the mount 11 by outputting power to switch the open state and the collapsed state of the plurality of load carriers 12.
  • the carrier arm 12 includes an arm body 12a and a support portion 12b formed or disposed on the arm body 12a, the transmission member 14 including a first link 14a and a second link 14b, the two ends of the first link 14a are respectively rotatably connected with the root of the arm body 12a and the mounting seat 11, and the two ends of the second link 14b are respectively connected with the root of the arm body 12a.
  • the output end of the power output element 13 is rotationally coupled, and the axis of rotation of the first link 14a at the root of the arm body 12a and the axis of rotation of the second link 14b at the root of the arm body 12a Do not coincide.
  • each set of said carrier arms 12 including at least two of said carrier arms 12.
  • At least two of the arms of the carrier arm 12 in each set of the carrier arms 12 A first connecting shaft 12e and a second connecting shaft 12f having different rotation axes are fixedly coupled between the roots of 12a, and the first link 14a and the second link 14b are respectively coupled to the first connecting shaft 12e and the second The connecting shaft 12f is pivotally connected.
  • a linear motor, a cylinder or a hydraulic cylinder capable of outputting a linear stroke can be selected.
  • the output end of the power output element 13 can be hinged to the second link 14b via a connection base 13a, which can be fixedly connected to the power output element On the output of 13.
  • various implementations of the above-described carrier arm drive mechanism can be automatically controlled by a controller on the unmanned vehicle or remotely controlled by the issuer of the loaded item.
  • the opening or closing of the plurality of carrier arms 12 is achieved, so that the automatic unloading carrier of the present disclosure can realize on-demand unloading and automatic unloading.
  • this unloading process does not require the receipt of the receiving personnel, the experience of personnel cooperation is relatively low.
  • the unmanned vehicle can be returned or automatically returned according to the issuing party's instructions after unloading at the shipping location, it can also go to the next delivery location or automatically to the next delivery location according to the issuing party's instructions, so it is not necessary Staying in the current unloading location for a long time, thus greatly improving the delivery efficiency of unmanned vehicles.
  • the automatic unloading carrier 1 of the present disclosure can automatically form a restraining function when the loaded object is loaded into the loading position between the carrying arms, in addition to the automatic unloading function, that is, the automatic unloading carrier 1 is added in place.
  • a detecting switch capable of detecting whether the loaded object 5 reaches a cargo position between the plurality of carrier arms 12, so that the carrier arm driving mechanism drives the loaded object 5 when the loaded object 5 reaches the loading position
  • the plurality of carrier arms 12 are gathered.
  • the in-position detecting switch may include a non-contact sensing unit or a contact sensing unit, and the non-contact sensing unit may be a sensor based on the principles of light, ultrasonic or electromagnetic, such as a light-emitting tube, a proximity switch, or the like.
  • the contact type sensing unit can adopt the micro switch 13b and the like shown in FIG. 3.
  • the contact type sensing unit can be disposed under the connection base 13a corresponding to the position of the object 5 to be loaded, and can be carried on the object 5 When the cargo position is reached, the object 5 is triggered by contact or squeezing.
  • the above-mentioned automatic unloading vehicle 1 can be used for various unmanned vehicles, especially for use by drones, which can greatly improve the transportation efficiency of the drone and improve the utilization rate of the drone. Furthermore, the automatic unloading carrier 1 can also be used in other applications, such as lifting devices.
  • the landing gear 4 can also be disposed under the body 2 of the drone.
  • the automatic unloading carrier 1 can be located between the frames of the landing gear 4.
  • the drone of the present embodiment can cancel the landing gear or remove the landing gear as compared to the drone in the previous embodiment. That is, the landing support of the drone is achieved by the carrier arm 12.
  • the plurality of carrier arms 12 are selectively arranged such that the free ends of the arm bodies 12a of at least three of the carrier arms 12 are at the same level in an open state to form a stable supporting effect. That is to say, when the drone completes the placement of the loaded item 5, the object of the landing gear can be directly used to replace the landing gear.
  • the emitting side of the loaded object 5 first places the loaded object 5 between the carrying arms 12.
  • the upper surface contour of the loaded object 5 can be triggered to the micro switch 13b on the connection base 13a, and the micro switch 13b can be directed to the unmanned
  • the control system of the machine sends a sensing signal indicating that the control system is currently being loaded by the loaded object 5 to the loading position.
  • the control system of the drone will provide a control command to the power take-off element 13 to move the output end of the power take-off element 13 upward, which causes the output end to move upward through the second link 14b to which the base 13a is coupled.
  • the second connecting rod 14b drives the second connecting shaft 12f to rotate about the first connecting shaft 12e, and the corresponding plurality of sets of the loading arms 12 connected by the second connecting shaft 12f rotate around the first connecting shaft 12e.
  • an action of gathering inward is formed until the carrier arm 12 forms a clamping limit and a supporting action on the loaded object 5.
  • the drive of the power take-off element 13 can also be controlled by a remote control system for directly grabbing the cargo on the ground, eliminating the loading operation of the delivery personnel.
  • the drone can be taken off under the control of the flight control system and flew to a predetermined unloading location, or in accordance with the flight route provided by the command.
  • the power output component 13 receives the unloading command issued by the controller of the drone or receives the dispatch.
  • the cargo side remotely discharges the command, its output end moves downward to drive the second link 14b to move downward.
  • the second connecting rod 14b drives the second connecting shaft 12f to rotate about the first connecting shaft 12e, and the corresponding plurality of sets of the loading arms 12 connected by the second connecting shaft 12f rotate around the first connecting shaft 12e. , thereby forming an outward opening motion until the restriction on the loaded object 5 is released.
  • a grating sensor may be further disposed at the landing gear position of the drone to detect whether the loaded object 5 has been placed. When it is confirmed that the loaded object 5 has completely passed through the grating sensor, indicating that the loaded object 5 has completely deviated from the carrier, it can be determined that the delivery is completed. After the signal of the grating sensor is confirmed by the flight control system of the drone, To perform a return flight or to the next preset location.

Abstract

一种自动卸货载具（1），具有安装座（11）、多个载物臂（12）和载物臂驱动机构，安装座（11）用于与无人运载工具进行固定，多个载物臂（12）通过载物臂驱动机构与安装座（11）连接，能够在载物臂驱动机构的驱动作用下张开或收拢，多个载物臂（12）在收拢状态下能够形成承载被载物体（5）的空间，在张开状态下解除对被载物体（5）的约束。同时还提供一种无人运载工具，具有该自动卸货载具（1），能够实现无人运载工具对被载物体（5）的自动卸货，不需要收货人员配合进行卸货，因此对人员配合要求较低，另一方面，由于无人运载工具不需要长时间滞留在当前卸货地点，因此提高了无人运载工具的送货效率。

Description

自动卸货载具及无人机
本申请是以CN申请号为201610920792.3，申请日为2016年10月21日的申请为基础，并主张其优先权，该CN申请的公开内容在此作为整体引入本申请中。
技术领域
本公开主要涉及无人运载领域，尤其涉及一种自动卸货载具及无人机。
背景技术
无人驾驶飞机简称“无人机”，是利用无线电遥控设备和自备的程序控制装置操纵的飞行设备。民用的无人机应用范围较广，包括航拍、农业、植保、自拍、快递运输、灾难救援、观察野生动物、监控传染病、测绘、新闻报道、电力巡检、救灾、影视拍摄等。
在上述各种无人机应用中，快递运输能够极大程度的节省人力物力，提高运输效率，因此无人机货运未来可能会成为更为主流的运输方式。对于发明人知晓的一种无人机运输模式来说，通常是由发货人员将货物安装在无人机的专用载具中，例如安装在无人机下方的拖网内，然后操作无人机升空并前往卸货地点，当无人机抵达卸货地点后，无人机降落在地面，并由处于卸货地点的收货人员将专用载具打开，将货物取出。
发明内容
发明人认识到在背景技术中涉及的无人机运输模式中，无人机主要起到途中运输的作用。在运输的起点和终点均需要人员进行配合，占用了不少人力，尤其在卸货地点往往还需要收货人员具有一定的卸货经验，以免在卸货过程中发生误操作而使得无人机无法正常升空。另一方面，如果收货人员并未在无人机到达时处于卸货地点，则无人机需要长时间滞留在卸货地点，直到收货人员抵达并取出货物后才能重新升空返回，这势必会使无人机的效率受到极大影响。
有鉴于此，本公开实施例提供一种自动卸货载具及无人机，能够提高无人运载工具的物品运输效率。
根据本公开的一个方面，提供一种自动卸货载具，包括：安装座、多个载物臂和 载物臂驱动机构，所述安装座用于与无人运载工具进行固定，所述多个载物臂通过所述载物臂驱动机构与所述安装座连接，能够在所述载物臂驱动机构的驱动作用下张开或收拢，所述多个载物臂在收拢状态下能够形成承载被载物体的空间，在张开状态下解除对被载物体的约束。
在一个实施例中，所述载物臂包括臂体和支撑部，所述支撑部形成或设置在臂体上，在所述多个载物臂的收拢状态下，所述臂体和支撑部对被载物体形成支撑和夹持限位作用，在所述多个载物臂的张开状态下，所述臂体和支撑部解除对所述被载物体的支撑和夹持限位作用。
在一个实施例中，所述臂体的根部与所述载物臂驱动机构铰接，能够在所述载物臂驱动机构的驱动下相对于所述安装座转动，各个所述载物臂的所述支撑部至少形成或设置在所述臂体的自由端，能够随所述臂体的转动而相互靠拢或相互分离。
在一个实施例中，所述多个载物臂包括至少两组载物臂，所述至少两组载物臂分别位于被载物体的不同侧面。
在一个实施例中，每组所述载物臂包括至少两个所述载物臂，每组所述载物臂通过连接件相互固定连接，且相对于所述被载物体的侧面均匀排列。
在一个实施例中，处于对侧的不同组所述载物臂的运动平面重合。
在一个实施例中，所述臂体的截面尺寸从根部到自由端的截面尺寸逐渐减小。
在一个实施例中，在所述臂体上靠近自由端的部位设有加强结构。
在一个实施例中，所述臂体上开设有多个减重孔。
在一个实施例中，所述载物臂驱动机构包括动力输出元件和传动元件，所述动力输出元件固定安装在所述安装座上，并通过所述传动元件连接所述多个载物臂，所述动力输出元件通过输出动力，能够使所述多个载物臂相对于所述安装座移动或转动，以切换所述多个载物臂的张开状态和收拢状态。
在一个实施例中，所述载物臂包括臂体和支撑部，所述支撑部形成或设置在臂体上，所述传动元件包括第一连杆和第二连杆，所述第一连杆的两端分别与所述臂体的根部和所述安装座转动连接，所述第二连杆的两端分别与所述臂体的根部和所述动力输出元件的输出端转动连接，且所述第一连杆在所述臂体的根部的转动轴线与所述第二连杆在所述臂体的根部的转动轴线不重合。
在一个实施例中，所述多个载物臂包括至少两组载物臂，每组所述载物臂包括至少两个所述载物臂，每组所述载物臂中的至少两个所述载物臂的臂体根部之间固定连 接有具有不同转动轴线的第一连接轴和第二连接轴，所述第一连杆和第二连杆分别与所述第一连接轴和第二连接轴枢接。
在一个实施例中，所述动力输出元件为直线电机、气缸或液压缸，在所述动力输出元件的输出端上固定连接有连接底座，所述动力输出元件的输出端通过所述连接底座与所述第二连杆铰接。
在一个实施例中，还包括到位探测开关，能够探测被载物体是否到达所述多个载物臂之间的载货位置，以便所述载物臂驱动机构在被载物体到达所述载货位置时，驱动所述多个载物臂收拢。
在一个实施例中，所述载物臂驱动机构包括动力输出元件和传动元件，所述动力输出元件固定安装在所述安装座上，并通过所述传动元件连接所述多个载物臂，所述到位探测开关包括接触式传感单元，在所述动力输出元件的输出端上固定连接有连接底座，所述接触式传感单元设置在所述连接底座下方对应于被载物体的位置，能够在被载物体到达所述载货位置时由被载物体以接触或挤压方式实现触发。
在一个实施例中，所述接触式传感单元为微动开关。
在一个实施例中，所述无人运载工具为无人机或无人车，所述载物臂驱动机构由所述无人机或无人车上的控制器自动控制或者由被载物品的发出方远程控制来实现所述多个载物臂的张开或收拢。
在一个实施例中，所述无人运载工具为无人机，在所述多个载物臂的张开状态下，至少三个所述载物臂的臂体的自由端位于同一水平面，以实现所述无人机的起落支撑作用。
根据本公开的另一个方面，提供一种无人机，包括机体和飞行翼，其中还包括前述的自动卸货载具，所述自动卸货载具通过安装座固定在机体的下方。
在一个实施例中，在所述机体的下方还设置有起落架，所述自动卸货载具位于所述起落架的架体之间。
因此，根据本公开实施例，采用多个载物臂对被运载的物体(简称被载物体)进行承载，并利用载物臂驱动机构驱动载物臂张开或收拢，来实现载物臂对被载物体的承载和释放，这样就能够实现无人运载工具对被载物体的自动卸货，不需要收货人员配合进行卸货，因此对人员配合要求较低。另一方面，由于无人运载工具可以在运送地点卸货后返回或者去往下一送货地点，因此不需要长时间滞留在当前卸货地点，因此极大的提高了无人运载工具的送货效率。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开无人机的一实施例的结构示意图。
图2为本公开自动卸货载具的一实施例的结构示意图。
图3为图2中椭圆圈对应结构的放大示意图。
图4为本公开自动卸货载具实施例的载物臂张开状态的示意图。
图5为本公开自动卸货载具实施例的载物臂收拢状态的示意图。
图6为本公开自动卸货载具实施例的载物臂处于收拢状态时臂体和支撑部与被载物体的位置关系的放大示意图。
图7为本公开无人机的另一实施例的结构示意图。
图8为图7无人机实施例在空载状态下的结构示意图。
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。基于本公开中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。在本公开的描述中，需要理解的是，术语“长度”、“宽度”、“厚度”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开保护范围的限制。
除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。同时，应当明白，为了便于描述，附图中所示出的 各个部分的尺寸并不是按照实际的比例关系绘制的。对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为授权说明书的一部分。在这里示出和讨论的所有示例中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它示例可以具有不同的值。应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
如图1所示，为本公开无人机的一实施例的结构示意图。在本实施例中，无人机包括机体2、飞行翼3和自动卸货载具1。其中，机体2包括了无人机所需的各类电气元件和电源组件，例如电路板、飞行控制系统、电池等。飞行翼3与机体2连接，能够执行无人机的升降功能。飞行翼3可采用固定翼或者图1所示的旋翼形式，也可以采用固定翼和旋翼的组合形式。
自动卸货载具1是用来运载被载物体5的工具，其被安装在机体2的下方，以便根据需要在任意地理位置卸货或者在运送地点自动卸货。卸货位置可以在空中的预设高度。自动卸货载具1也可以实现在降落后的自行卸货操作。
图2-6示出了自动卸货载具1的一个具体实施例，在本实施例中，自动卸货载具1具体包括：安装座11、多个载物臂12和载物臂驱动机构。安装座11用于与无人运载工具进行固定。对于图1所示的无人机来说，自动卸货载具1可以通过安装座11固定在无人机的机体2的下方。多个载物臂12可以通过所述载物臂驱动机构与所述安装座11连接，并能够在所述载物臂驱动机构的驱动作用下张开或收拢。多个载物臂12在收拢状态下能够形成承载被载物体5的空间，处于该空间内的被载物体5能够被无人机稳定的携带升空。而在多个载物臂12的张开状态下，能够解除多个载物臂12对被载物体5的约束，使得被载物体5能够在自身重力的作用下或者其他部件的驱动作用下从载物臂12之间脱离。
载物臂12可以具体包括臂体12a和支撑部12b。支撑部12b可以形成在臂体12a上，例如在臂体12a上直接铣削出支撑部，或者通过一体成型的方式直接形成臂体12a和支撑部12b。支撑部12b也可以采用安装部件(例如圆钉、螺钉等)、安装结构(例如螺纹结构、嵌接结构、粘接结构等)设置在臂体12a上。
在所述多个载物臂12的收拢状态下(可参考图5)，所述臂体12a和支撑部12b能够对被载物体5形成支撑和夹持限位作用。臂体12a和支撑部12b可以根据与被载物体的配合面对被载物体5的不同侧面进行夹持限位，并在被载物体5的底面上形成 支撑，以使得被载物体5能够被稳定的承载。参考图4、5所分别示出的状态图和图6所示的配合结构，可以看到被载物体5可以在侧面(也可包括底面)形成内凹结构5a，以便使臂体12a嵌入到被载物体5的侧面。如果底面也设置内凹结构，则支撑部12b也可以嵌入在内凹结构内形成对被载物体5的支撑作用。利用这样的配合结构，可以使载物臂12能够形成对被载物体5更多方向的约束作用，避免被载物体5发生蹿动，从而确保被载物体5在运送过程中不容易掉落。
在所述多个载物臂12的张开状态下(可参考图4)，臂体12a和支撑部12b解除对所述被载物体5的支撑和夹持限位作用，以便被载物体5在自身重力的作用下或者其他部件的驱动作用下从载物臂12之间脱离。
臂体12a可以在载物臂驱动机构的驱动下运动，运动方式可以包括移动或者转动，或者移动和转动的混合运动。图2中示出的臂体12a的根部与所述载物臂驱动机构铰接，能够在所述载物臂驱动机构的驱动下相对于所述安装座11转动。相应的，各个所述载物臂12的所述支撑部12b至少形成或设置在所述臂体12a的自由端，能够随所述臂体12a的转动而相互靠拢或相互分离。
当臂体12a在驱动下向外扩张，则其自由端则会相互分离，使得支撑部12b相互之间也相对远离，从而解除对被载物体5的支撑作用。而当臂体12a在驱动下向内收合，则其自由端则会相互靠拢，使得支撑部12b相互之间相互靠近，直至将被载物体5夹持牢靠，并形成稳定支撑。
支撑部12b除了设置在臂体12a的自由端，也可以设置在臂体12a的其他位置，例如臂体12a的中部或中下部，增加更多的支撑部可以获得更加稳定的支撑作用，相应的可在被载物体的外轮廓上形成或设置与支撑部12b相配合的结构。
对于被载物体来说，较多的载物臂12可以对被载物体形成各方向的约束作用，为了便于载物臂12的操作，可选使多个载物臂12包括至少两组载物臂12，并使至少两组载物臂12分别位于被载物体5的不同侧面，以便对被载物体形成多个侧面的夹持限位和支撑作用。图2示出的载物臂12包括两组，分别位于被载物体5的对侧，相应的，也可以在被载物体5的另一垂直方向的对侧也设置两组载物臂12，以形成更稳定的夹持限位和支撑作用。
载物臂5的数量和设置位置可以综合被载物体的形状、重量范围、无人机的载重能力等因素考虑。对于每组载物臂12来说，如果臂体较宽，可以只包括一个载物臂12，而为了减轻臂体12本身的重量，也可以包括两个以上宽度较小的载物臂12，每 组所述载物臂12可通过连接件相互固定连接，且相对于所述被载物体5的侧面均匀排列。
为了使载物臂12对被载物体的夹持和支撑作用更均衡，可选使处于对侧的不同组所述载物臂12的运动平面重合。在其他实施例中，处于对侧的不同组所述载物臂12的运动平面也可以不重合，只需要确保被载物体的重心落在各个载物臂12之间即可。
对于臂体12a来说，可选使臂体12a的截面尺寸从根部到自由端的截面尺寸逐渐减小，以使得质量较大的根部距离枢轴较近，并使较远位置的自由端质量较小，从而减小驱动力矩，使得驱动更加容易。在其他实施例中，也可以采用从根部到自由端截面尺寸相同的结构，或者其它截面尺寸关系的结构，只要能够确保臂体12a能够被驱动运动，并且能够和支撑部12b共同实现被载物体5的夹持限位和支撑作用即可。
在所述臂体12a上靠近自由端的部位可以设置加强结构12c，例如图2中示出的多组凸起，这些凸起可以使自由端用于承载被载物体5的部分更不容易变形或不容易发生较大幅度的变形，从而确保被载物体5更稳定的支撑。
为了尽量提升无人运载工具的载物能力，可以通过使臂体12a尽量减少重量来使得自动卸货载具1的重量减轻，除了改造臂体12a的结构形式之外，可选在臂体12a上开设有多个减重孔12d。
载物臂驱动机构可以直接驱动载物臂12运动，其可具体包括动力输出元件13和传动元件14。其中，动力输出元件13固定安装在所述安装座11上，并通过所述传动元件14连接所述多个载物臂12。所述动力输出元件13通过输出动力，能够使所述多个载物臂12相对于所述安装座11移动或转动，以切换所述多个载物臂12的张开状态和收拢状态。
仍参考图2，所述载物臂12包括臂体12a和支撑部12b，所述支撑部12b形成或设置在臂体12a上，所述传动元件14包括第一连杆14a和第二连杆14b，所述第一连杆14a的两端分别与所述臂体12a的根部和所述安装座11转动连接，所述第二连杆14b的两端分别与所述臂体12a的根部和所述动力输出元件13的输出端转动连接，且所述第一连杆14a在所述臂体12a的根部的转动轴线与所述第二连杆14b在所述臂体12a的根部的转动轴线不重合。
对于多个载物臂12包括至少两组载物臂12，每组所述载物臂12包括至少两个所述载物臂12的情况。可以在每组所述载物臂12中的至少两个所述载物臂12的臂体 12a根部之间固定连接具有不同转动轴线的第一连接轴12e和第二连接轴12f，并使所述第一连杆14a和第二连杆14b分别与所述第一连接轴12e和第二连接轴12f枢接。这样在动力输出元件13的驱动作用下，通过第一连杆14a和第二连杆14b带动第一连接轴12e和第二连接轴12f运动，可以使多个载物臂12同步运动，避免因载物臂12张开不协调时导致被载物体无法以合适的姿态脱离。
在动力输出元件13的选择上，可选采用能够输出直线行程的直线电机、气缸或液压缸。为了同时驱动多组载物臂12的第二连杆14b，动力输出元件13的输出端可以通过一个连接底座13a与所述第二连杆14b铰接，该连接底座13a可以固定连接在动力输出元件13的输出端上。
对于无人机或者无人车等无人运载工具来说，上述载物臂驱动机构的各种实现形式均可由无人运载工具上的控制器自动控制或者由被载物品的发出方远程控制，来实现所述多个载物臂12的张开或收拢，从而使得本公开自动卸货载具能够实现按需卸货和自动卸货。相应的，由于这个卸货过程不需要收货人员配合，因此对人员配合的经验要求较低。此外，由于无人运载工具可以在运送地点卸货后按照发出方的指令返回或者自动返回，也可以按照发出方的指令去往下一送货地点或者自动去往下一送货地点，因此不需要长时间滞留在当前卸货地点，因此极大的提高了无人运载工具的送货效率。
本公开的自动卸货载具1除了可以实现自动卸货功能，还能够在被载物体被装入到载物臂之间的载货位置时自动形成约束作用，即在自动卸货载具1中增加到位探测开关，能够探测被载物体5是否到达所述多个载物臂12之间的载货位置，以便所述载物臂驱动机构在被载物体5到达所述载货位置时，驱动所述多个载物臂12收拢。
到位探测开关可以包括非接触式传感单元或者接触式传感单元，非接触式传感单元可以为基于光、超声波或电磁等原理的传感器，例如光对射管、接近开关等。接触式传感单元可采用图3所示的微动开关13b等，相应的，接触式传感单元可以设置在所述连接底座13a下方对应于被载物体5的位置，能够在被载物体5到达所述载货位置时由被载物体5以接触或挤压方式实现触发。
上述自动卸货载具1可用于各类无人运载工具，尤其适用于无人机使用，可以极大地提高无人机的运送效率，提高无人机的使用率。此外，该自动卸货载具1也可以应用在其他场合，例如起吊装置中。
在图1所示的无人机实施例中，无人机的机体2的下方还可以设置起落架4，用 于对无人机在地面上的起升和降落提供支撑，相应的，可以将自动卸货载具1位于所述起落架4的架体之间。
在图7、8中还提供了另一种无人机的实施例，相比于之前实施例中的无人机，本实施例的无人机可以取消起落架或者将起落架拆卸掉。即通过载物臂12实现无人机的起落支撑作用。相应的，可选使所述多个载物臂12在张开状态下，使至少三个所述载物臂12的臂体12a的自由端位于同一水平面，以便形成稳定的支撑作用。也就是说，当无人机完成被载物品5的投放后，可以直接利用载物臂12降落来替代起落架的作用。
下面结合图1-8说明一下安装了本公开自动卸货载具1的无人机的具体工作过程。
被载物体5的发出方先将被载物体5置于载物臂12之间。当被载物体5到达多个载物臂12之间的载货位置时，被载物体5的上表面轮廓能够触发到连接底座13a上的微动开关13b，该微动开关13b可以向无人机的控制系统发送传感信号，提示控制系统目前被载物体5已到达载货位置。无人机的控制系统则会给动力输出元件13提供控制指令，使动力输出元件13的输出端向上运动，这就使得输出端通过连接底座13a所连接的第二连杆14b向上运动。而第二连杆14b又会带动第二连接轴12f围绕第一连接轴12e转动，相应的由第二连接轴12f所连接的多组载物臂12就会随之围绕第一连接轴12e转动，从而形成向内收拢的动作，直至载物臂12对被载物体5形成夹持限位和支撑作用。
动力输出元件13的驱动也可以由远程的控制系统进行控制，用于直接对地面的货物进行抓取，省去发货人员的装载操作。
在被载物品5装载完毕后，无人机可以在飞控系统的控制下升空，并飞行到预定的卸货地点，或者按照指令所提供的飞行路线进行飞行。当无人机的飞控系统判断无人机已到达卸货地点，或者无人机接收到远程卸货指令时，则动力输出元件13在接收到无人机的控制器发出的卸货指令或者收到发货方的远程卸货指令时，其输出端向下运动，带动第二连杆14b向下运动。而第二连杆14b又会带动第二连接轴12f围绕第一连接轴12e转动，相应的由第二连接轴12f所连接的多组载物臂12就会随之围绕第一连接轴12e转动，从而形成向外打开的动作，直至解除对被载物体5的限制。
在无人机的起落架位置还可以进一步设置光栅传感器，可检测被载物体5是否已经投放。当确认被载物体5已经完全通过光栅传感器，表示被载物体5已经完全脱离了载具，此时可认定投放完毕。光栅传感器的信号经过无人机的飞控系统确认后，可 以执行返航或去往下一预设地点。
以上对本公开所提供的自动卸货载具及无人机进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (20)

  1. 一种自动卸货载具(1)，其中，包括：安装座(11)、多个载物臂(12)和载物臂驱动机构，所述安装座(11)用于与无人运载工具进行固定，所述多个载物臂(12)通过所述载物臂驱动机构与所述安装座(11)连接，能够在所述载物臂驱动机构的驱动作用下张开或收拢，所述多个载物臂(12)在收拢状态下能够形成承载被载物体(5)的空间，在张开状态下解除对被载物体(5)的约束。
  2. 根据权利要求1所述的自动卸货载具(1)，其中，所述载物臂(12)包括臂体(12a)和支撑部(12b)，所述支撑部(12b)形成或设置在臂体(12a)上，在所述多个载物臂(12)的收拢状态下，所述臂体(12a)和支撑部(12b)对被载物体(5)形成支撑和夹持限位作用，在所述多个载物臂(12)的张开状态下，所述臂体(12a)和支撑部(12b)解除对所述被载物体(5)的支撑和夹持限位作用。
  3. 根据权利要求2所述的自动卸货载具(1)，其中，所述臂体(12a)的根部与所述载物臂驱动机构铰接，能够在所述载物臂驱动机构的驱动下相对于所述安装座(11)转动，各个所述载物臂(12)的所述支撑部(12b)至少形成或设置在所述臂体(12a)的自由端，能够随所述臂体(12a)的转动而相互靠拢或相互分离。
  4. 根据权利要求1所述的自动卸货载具(1)，其中，所述多个载物臂(12)包括至少两组载物臂(12)，所述至少两组载物臂(12)分别位于被载物体(5)的不同侧面。
  5. 根据权利要求4所述的自动卸货载具(1)，其中，每组所述载物臂(12)包括至少两个所述载物臂(12)，每组所述载物臂(12)通过连接件相互固定连接，且相对于所述被载物体(5)的侧面均匀排列。
  6. 根据权利要求4所述的自动卸货载具(1)，其中，处于对侧的不同组所述载物臂(12)的运动平面重合。
  7. 根据权利要求2所述的自动卸货载具(1)，其中，所述臂体(12a)的截面尺寸从根部到自由端的截面尺寸逐渐减小。
  8. 根据权利要求2所述的自动卸货载具(1)，其中，在所述臂体(12a)上靠近自由端的部位设有加强结构(12c)。
  9. 根据权利要求2所述的自动卸货载具(1)，其中，所述臂体(12a)上开设有多个减重孔(12d)。
  10. 根据权利要求1所述的自动卸货载具(1)，其中，所述载物臂驱动机构包括动力输出元件(13)和传动元件(14)，所述动力输出元件(13)固定安装在所述安装座(11)上，并通过所述传动元件(14)连接所述多个载物臂(12)，所述动力输出元件(13)通过输出动力，能够使所述多个载物臂(12)相对于所述安装座(11)移动或转动，以切换所述多个载物臂(12)的张开状态和收拢状态。
  11. 根据权利要求10所述的自动卸货载具(1)，其中，所述载物臂(12)包括臂体(12a)和支撑部(12b)，所述支撑部(12b)形成或设置在臂体(12a)上，所述传动元件(14)包括第一连杆(14a)和第二连杆(14b)，所述第一连杆(14a)的两端分别与所述臂体(12a)的根部和所述安装座(11)转动连接，所述第二连杆(14b)的两端分别与所述臂体(12a)的根部和所述动力输出元件(13)的输出端转动连接，且所述第一连杆(14a)在所述臂体(12a)的根部的转动轴线与所述第二连杆(14b)在所述臂体(12a)的根部的转动轴线不重合。
  12. 根据权利要求11所述的自动卸货载具(1)，其中，所述多个载物臂(12)包括至少两组载物臂(12)，每组所述载物臂(12)包括至少两个所述载物臂(12)，每组所述载物臂(12)中的至少两个所述载物臂(12)的臂体(12a)根部之间固定连接有具有不同转动轴线的第一连接轴(12e)和第二连接轴(12f)，所述第一连杆(14a)和第二连杆(14b)分别与所述第一连接轴(12e)和第二连接轴(12f)枢接。
  13. 根据权利要求11所述的自动卸货载具(1)，其中，所述动力输出元件(13)为直线电机、气缸或液压缸，在所述动力输出元件(13)的输出端上固定连接有连接底座(13a)，所述动力输出元件(13)的输出端通过所述连接底座(13a)与所述第二连杆(14b)铰接。
  14. 根据权利要求1所述的自动卸货载具(1)，其中，还包括到位探测开关，能够探测被载物体(5)是否到达所述多个载物臂(12)之间的载货位置，以便所述载物臂驱动机构在被载物体(5)到达所述载货位置时，驱动所述多个载物臂(12)收拢。
  15. 根据权利要求14所述的自动卸货载具(1)，其中，所述载物臂驱动机构包括动力输出元件(13)和传动元件(14)，所述动力输出元件(13)固定安装在所述安装座(11)上，并通过所述传动元件(14)连接所述多个载物臂(12)，所述到位探测开关包括接触式传感单元，在所述动力输出元件(13)的输出端上固定连接有连接底座(13a)，所述接触式传感单元设置在所述连接底座(13a)下方对应于被载物体 (5)的位置，能够在被载物体(5)到达所述载货位置时由被载物体(5)以接触或挤压方式实现触发。
  16. 根据权利要求15所述的自动卸货载具(1)，其中，所述接触式传感单元为微动开关(13b)。
  17. 根据权利要求1所述的自动卸货载具(1)，其中，所述无人运载工具为无人机或无人车，所述载物臂驱动机构由所述无人机或无人车上的控制器自动控制或者由被载物品的发出方远程控制来实现所述多个载物臂(12)的张开或收拢。
  18. 根据权利要求2所述的自动卸货载具(1)，其中，所述无人运载工具为无人机，在所述多个载物臂(12)的张开状态下，至少三个所述载物臂(12)的臂体(12a)的自由端位于同一水平面，以实现所述无人机的起落支撑作用。
  19. 一种无人机，包括机体(2)和飞行翼(3)，其中，还包括权利要求1～18任一所述的自动卸货载具(1)，所述自动卸货载具(1)通过安装座(11)固定在机体(2)的下方。
  20. 根据权利要求19所述的无人机，其中，在所述机体(2)的下方还设置有起落架(4)，所述自动卸货载具(1)位于所述起落架(4)的架体之间。
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