技术领域technical field
本发明涉及一种无人配送设备及其使用方法。The invention relates to an unmanned delivery device and a method for using the same.
背景技术Background technique
无人配送设备，即通过利用无线电遥控设备和自备的程序控制装置操纵的无人驾驶的低空飞行器运载包裹，自动送达目的地，其优点主要在于解决繁重的底面交通压力下的配送问题，提高配送效率，同时减少人力成本，现有技术中的无人机配送设备的缺点在于连接结构复杂，且在在飞行过程中，同一机型无法适应不同空间环境，维护成本及周期高，无法满足灵活的市场需求。Unmanned distribution equipment, that is, unmanned low-altitude aircraft operated by radio remote control equipment and its own program control device to carry packages and automatically deliver them to the destination. Its main advantage is to solve the distribution problem under heavy traffic pressure on the bottom surface Improve distribution efficiency while reducing labor costs. The disadvantages of UAV distribution equipment in the prior art are that the connection structure is complex, and during the flight, the same model cannot adapt to different space environments, and the maintenance cost and cycle are high, which cannot meet the requirements. Flexible market demands.
发明内容Contents of the invention
本发明提出一种无人配送设备及其使用方法。The invention proposes an unmanned delivery device and a method for using the same.
本发明解决技术问题所采用的方案是：一种无人配送设备，包括无人机主体、安装在无人机主体下部的起落架、安装在起落架上的货箱，所述无人机主体的外周圆周均布的安装有在可替换式的旋翼臂，旋翼臂外端竖直安装有电机，电机的输出轴末端安装有螺旋桨。The solution adopted by the present invention to solve the technical problem is: a kind of unmanned distribution equipment, including the main body of the drone, the landing gear installed on the lower part of the main body of the drone, and the cargo box installed on the landing gear, the main body of the drone Replaceable rotor arms are evenly distributed on the outer circumference of the rotor arm, a motor is installed vertically at the outer end of the rotor arm, and a propeller is installed at the end of the output shaft of the motor.
进一步的，所述无人机主体外周圆周均布设置有若干用于连接旋翼臂的机臂，机臂末端的端面上设置有插头公座、电磁铁，机臂末端的外周上设置有卡榫。Further, the outer circumference of the main body of the drone is evenly distributed with several arms for connecting the rotor arm, the end face of the arm end is provided with a plug male seat and an electromagnet, and the outer circumference of the arm end is provided with a tenon .
进一步的，所述旋翼臂内端的端面上设置有与机臂末端上的插头公座配合的插头母座、与电磁铁配合的铁块，旋翼臂内端的外周上设置有与卡榫插接配合的插口, 所述无人机主体内安装有控制模块、电池，电磁铁与无人机主体内部的电池、控制模块电连，插头母座与插头公座连接后实现无人机主体内部的电池、控制模块与电机的电连。Further, the end surface of the inner end of the rotor arm is provided with a plug female seat that matches the male plug seat on the end of the machine arm, and an iron block that cooperates with the electromagnet. The main body of the drone is equipped with a control module and a battery, and the electromagnet is electrically connected to the battery and the control module inside the main body of the drone. , The electrical connection between the control module and the motor.
进一步的，所述起落架包括两前后平行设置的顶梁，两顶梁的两侧分别设有与顶梁连接并向下延伸的侧梁，两顶梁之间通过左右对称设置的两横杆连接，同侧的两个侧梁底部经固定杆连接，四个侧梁上端均水平设置有挂钩。Further, the undercarriage includes two top beams arranged in parallel front and rear, side beams connected with the top beams and extending downward are respectively arranged on both sides of the two top beams, and two horizontal bars arranged symmetrically between the two top beams Connection, the bottoms of the two side beams on the same side are connected by a fixed rod, and the upper ends of the four side beams are horizontally provided with hooks.
进一步的，所述无人机主体的机身底部安装有用于固定起落架的卡扣式结构，所述卡扣式结构包括对称安装在机身底部两侧的固定卡扣与移动卡扣机构，所述移动卡扣机构包括横置卡扣固定板、竖直的移动卡扣，移动卡扣中部开设有与卡扣固定板插接配合的水平插口，水平插口内壁安装有用于固定卡扣固定板与移动卡扣的弹簧销，卡扣固定板上设置有与弹簧销相配合的球面槽，无人机主体下部开设有容置移动卡扣的竖插口、容置卡扣固定板的横插口，竖插口与横插口相连通，固定卡扣、移动卡扣下端设置用于钩住横杆的钩具。Further, the bottom of the fuselage of the main body of the drone is equipped with a buckle structure for fixing the landing gear, and the buckle structure includes a fixed buckle and a mobile buckle mechanism symmetrically installed on both sides of the bottom of the fuselage, The mobile buckle mechanism includes a horizontal buckle fixing plate and a vertical mobile buckle. The middle part of the mobile buckle is provided with a horizontal socket for plugging and matching with the buckle fixing plate. The inner wall of the horizontal socket is installed with a buckle fixing plate With the spring pin of the mobile buckle, the buckle fixing plate is provided with a spherical groove that matches the spring pin. The lower part of the main body of the drone is provided with a vertical socket for accommodating the mobile buckle and a horizontal socket for accommodating the buckle fixing plate. The vertical socket is connected with the horizontal socket, and the lower ends of the fixed buckle and the movable buckle are provided with hooks for hooking the cross bar.
进一步的，所述弹簧销结构包括自上而下安装的螺栓、弹簧、碰球，弹簧一端固定安装在螺栓下部，另一端与碰球固定连接，所述移动卡扣上端中部开设有与弹簧销结构上的螺栓螺纹配合的弹簧销孔，弹簧销孔与移动卡扣上的水平插口连通，螺栓与弹簧销孔螺纹固定。Further, the spring pin structure includes a bolt, a spring, and a bumper installed from top to bottom. One end of the spring is fixedly installed on the lower part of the bolt, and the other end is fixedly connected to the bumper. The bolts on the structure are threadedly matched with the spring pin holes, the spring pin holes communicate with the horizontal socket on the mobile buckle, and the bolts are threadedly fixed with the spring pin holes.
进一步的，所述货箱左右两侧上部对称水平设置有四个与侧梁上的挂钩配合的挂环。Further, four hanging rings that cooperate with the hooks on the side beams are arranged symmetrically and horizontally on the upper parts of the left and right sides of the cargo box.
一种无人配送设备的使用方法,采用如权利要求7所述的无人配送设备,其特征在于：A method for using unmanned delivery equipment, using the unmanned delivery equipment according to claim 7, characterized in that:
（1）使用前先根据配送任务规划配送路线与合适的货箱和起落架型号，根据配送路线的环境选择合适型号的旋翼臂；(1) Before use, plan the delivery route and the appropriate cargo box and landing gear model according to the delivery task, and select the appropriate type of rotor arm according to the environment of the delivery route;
（2）将起落架抵靠在无人机机身底部下侧面，将起落架其一的横杆扣在固定卡扣中，然后将移动卡扣插入机身底部竖插口，扣住起落架另一横杆，将卡扣固定板插入机身侧壁横插口，并贯穿移动卡扣上的水平插口至碰球卡入球面槽；(2) Put the landing gear against the bottom side of the drone's fuselage, buckle one of the crossbars of the landing gear into the fixed buckle, then insert the mobile buckle into the vertical socket at the bottom of the fuselage, and buckle the other side of the landing gear. A horizontal bar, insert the buckle fixing plate into the horizontal socket on the side wall of the fuselage, and run through the horizontal socket on the moving buckle until the bumper snaps into the spherical groove;
（3）将需要配送的物品放置在货箱中，封闭货箱后将货箱左右两侧的挂环挂在起落架的挂钩上；(3) Put the items to be delivered in the cargo box, and after closing the cargo box, hang the hanging rings on the left and right sides of the cargo box on the hooks of the landing gear;
（4）将各旋翼臂内端上的插头母座与各机臂上的插头公座、各旋翼臂内端上的卡榫插口与各机臂上的卡榫均对应插接，然后控制电磁铁通电，吸附铁块；(4) Connect the female socket on the inner end of each rotor arm with the male socket on each arm, the tenon socket on the inner end of each rotor arm and the tenon on each arm, and then control the electromagnetic The iron is electrified and absorbs the iron block;
（5）控制无人机按路线飞行配送。(5) Control the UAV to fly and deliver according to the route.
与现有技术相比，本发明具有以下有益效果：无人机主体与旋翼臂、货架可拆连接，可更换不同长度或不同型号的旋翼臂、更换不同尺寸的货架或不同型号的货架以适应不同空间环境下的配送任务即一个机身搭配多种装配方式，减少所需的无人机数量，间接提高配送效率及经济效益，连接结构简单，可实现快速拆装，可减少维护成本及周期。Compared with the prior art, the present invention has the following beneficial effects: the main body of the UAV is detachably connected with the rotor arm and the shelf, and the rotor arms of different lengths or different models can be replaced, and the shelves of different sizes or different models can be replaced to adapt to The distribution tasks in different space environments are one fuselage with multiple assembly methods, reducing the number of drones required, indirectly improving distribution efficiency and economic benefits, the connection structure is simple, and can be quickly disassembled and assembled, which can reduce maintenance costs and cycles .
附图说明Description of drawings
下面结合附图对本发明专利进一步说明。Below in conjunction with accompanying drawing, the patent of the present invention is further described.
图1无人配送设备结构图；Figure 1 Structural diagram of unmanned distribution equipment;
图2无人机结构图；Figure 2 UAV structure diagram;
图3起落架结构图；Figure 3 is a structural diagram of the landing gear;
图4货箱结构图；Fig. 4 container structure diagram;
图5机臂末端结构图；Figure 5 Structural diagram of the end of the arm;
图6旋翼臂内端结构图；Fig. 6 Structural diagram of the inner end of the rotor arm;
图7移动卡扣结构图。Figure 7 is a structural diagram of the mobile buckle.
图中：1-无人机；11-机臂；111-插头公座；112-电磁铁；12-旋翼臂；121-插头母座；122-铁块；13-电机；14-螺旋桨；15-固定卡扣；16-移动卡扣机构；161-移动卡扣；162-螺栓；163-弹簧；164-碰球；165-移动卡扣固定板；2-起落架；21-顶梁；22-横杆；23-固定杆；24-挂钩；3-货箱；31-货仓控制器；32-货仓；33-挂环。In the figure: 1-drone; 11-arm; 111-plug male seat; 112-electromagnet; 12-rotor arm; 121-plug female seat; 122-iron block; 13-motor; 14-propeller; 15 -Fixed buckle; 16-Movement buckle mechanism; 161-Movement buckle; 162-Bolt; 163-Spring; - cross bar; 23 - fixed bar; 24 - hook; 3 - container; 31 - warehouse controller; 32 - warehouse; 33 - hanging ring.
具体实施方式Detailed ways
下面结合附图和具体实施方式对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.
如图1-7所示，一种无人配送设备，包括无人机主体、安装在无人机主体下部的起落架、安装在起落架上的货箱，所述无人机主体外周圆周均布的安装有若干可替换式的旋翼臂，可替换式的旋翼臂外端竖直安装有现有的电机，电机的输出轴末端安装有螺旋桨。As shown in Figure 1-7, an unmanned delivery device includes a drone body, a landing gear installed on the lower part of the drone body, and a cargo box installed on the landing gear. The outer circumference of the drone body is uniform. The cloth is installed with some replaceable rotor arms, and the outer end of the replaceable rotor arms is vertically equipped with an existing motor, and the output shaft end of the motor is equipped with a propeller.
在本实施例中，所述无人机主体外周圆周均布设置有若干用于连接旋翼臂的机臂，机臂末端的端面上设置有插头公座、电磁铁，机臂末端的外周上设置有卡榫。In this embodiment, the outer circumference of the main body of the drone is evenly distributed with several arms for connecting the rotor arm, the end face of the end of the arm is provided with a plug male seat and an electromagnet, and the outer circumference of the end of the arm is provided with There are tenons.
所述旋翼臂内端的端面上设置有与端面注塑一体成型的与机臂末端上的插头公座配合的插头母座、与电磁铁配合的铁块，旋翼臂内端的外周上设置有与卡榫插接配合的插口, 机臂末端与旋翼臂内端经电磁铁与卡榫结构固定连接，所述无人机主体内安装有现有无人机使用的的控制模块、电池，电磁铁与无人机主体内部的电池电连，插头母座与插头公座连接后实现无人机主体内部的电池、控制模块与电机的电连。The end surface of the inner end of the rotor arm is provided with a plug female seat that is integrally formed with the end face injection molding to match the plug male seat on the end of the machine arm, and an iron block that cooperates with the electromagnet. The socket for plugging and matching, the end of the machine arm and the inner end of the rotor arm are fixedly connected by the electromagnet and the tenon structure. The control module, battery, electromagnet and wireless The battery inside the main body of the human-machine is electrically connected, and the female plug socket is connected to the male plug socket to realize the electrical connection between the battery, the control module and the motor inside the main body of the drone.
在本实施例中，旋翼臂内部线路整合之后与插头母座连接，机身内部线路整合之后与插头公座连接，两者通过孔轴配合实现电源信号连接，起到轴向定位作用，然后通过安装在机臂末端的电磁铁通电啮合端面达到阻止轴向滑动且径向定位的作用，在机臂末端增加卡榫与旋翼臂进行配合避免由于无人机在工作的过程中出现震动而导致出现轴向转动。In this embodiment, the internal circuits of the rotor arm are integrated and then connected to the female socket of the plug, and the internal circuits of the fuselage are connected to the male socket after being integrated. The electromagnet installed at the end of the arm is energized and meshed with the end face to prevent axial sliding and radial positioning. A tenon is added at the end of the arm to cooperate with the rotor arm to avoid vibration caused by the drone during work. Axial rotation.
在本实施例中，所述起落架包括两前后平行设置的顶梁，两顶梁的两侧分别设有与顶梁连接并向下延伸的侧梁，两个顶梁之间通过左右对称设置的两个横杆连接，同侧的两侧梁底部经固定杆连接，四个侧梁上端均水平设置有挂钩。In this embodiment, the undercarriage includes two top beams arranged in parallel front and rear, side beams connected with the top beams and extending downward are respectively arranged on both sides of the two top beams, and the two top beams are symmetrically arranged by left and right The two crossbars are connected, the bottoms of the two side beams on the same side are connected by fixed rods, and the upper ends of the four side beams are horizontally provided with hooks.
在本实施例中，所述无人机主体的机身底部安装有用于固定起落架的卡扣式结构，所述卡扣式结构包括对称安装在机身底部两侧的固定卡扣与移动卡扣机构，所述移动卡扣机构包括横置卡扣固定板、竖直的移动卡扣，移动卡扣中部开设有与卡扣固定板插接配合的水平插口，水平插口内壁安装有用于固定卡扣固定板与移动卡扣的弹簧销，卡扣固定板设置有与弹簧销相配合的球面槽，无人机主体下部开设有容置移动卡扣的竖插口、容置卡扣固定板的横插口，竖插口与横插口相连通，固定卡扣、移动卡扣下端设置用于钩住横杆的钩具。In this embodiment, the bottom of the fuselage of the main body of the drone is equipped with a buckle structure for fixing the landing gear. Buckle mechanism. The mobile buckle mechanism includes a horizontal buckle fixing plate and a vertical mobile buckle. The middle part of the mobile buckle is provided with a horizontal socket that is plugged and matched with the buckle fixing plate. The inner wall of the horizontal socket is equipped with a Buckle the fixed plate and the spring pin of the mobile buckle. The buckle fixed plate is provided with a spherical groove that matches the spring pin. The socket, the vertical socket is connected with the horizontal socket, and the lower ends of the fixed buckle and the movable buckle are provided with hooks for hooking the cross bar.
在本实施例中，所述弹簧销结构包括自上而下安装的螺栓、弹簧、碰球，弹簧一端固定安装在螺栓下部，另一端与碰球固定连接，所述移动卡扣上端中部开设有与弹簧销结构上的螺栓螺纹配合的弹簧销孔，弹簧销孔与移动卡扣上的水平插口连通，螺栓与弹簧销孔螺纹固定。In this embodiment, the spring pin structure includes a bolt, a spring, and a bumper installed from top to bottom. One end of the spring is fixedly installed on the lower part of the bolt, and the other end is fixedly connected to the bumper. A spring pin hole that is threadedly matched with the bolt on the spring pin structure, the spring pin hole communicates with the horizontal socket on the mobile buckle, and the bolt is threadedly fixed to the spring pin hole.
在本实施例中，所述货箱上部设置有现有的货仓控制器，货箱内部设置电池组，货箱控制器下设置有若干货仓，每个货仓仓门上设置有现有的电磁阀控制货仓开关，货仓控制器与电池组、每个电磁阀分别电连，电池组与每个电磁阀分别电量，货箱左右两侧上部对称水平设置有四个与侧梁上的挂钩配合的挂环。In this embodiment, an existing warehouse controller is provided on the upper part of the cargo box, a battery pack is arranged inside the cargo box, several warehouses are arranged under the cargo box controller, and an existing cargo warehouse is installed on each warehouse door. The solenoid valve controls the switch of the warehouse, the warehouse controller is electrically connected with the battery pack and each solenoid valve, and the battery pack and each solenoid valve are respectively charged. The hooks match the hanging loops.
一种无人配送设备的使用方法：A method of using unmanned distribution equipment:
（1）使用前先根据配送任务规划配送路线与合适的货箱跟起落架型号，根据配送路线的环境选择合适型号的旋翼臂；(1) Before use, plan the delivery route and the appropriate cargo box and landing gear model according to the delivery task, and select the appropriate type of rotor arm according to the environment of the delivery route;
（2）将起落架抵靠在无人机机身底部下侧面，将起落架其一的横杆扣在固定卡扣中，然后将移动卡扣插入机身底部竖插口，扣住起落架另一横杆，将卡扣固定板插入机身侧壁横插口，并贯穿移动卡扣上的水平插口至碰球卡入球面槽；(2) Put the landing gear against the bottom side of the drone's fuselage, buckle one of the crossbars of the landing gear into the fixed buckle, then insert the mobile buckle into the vertical socket at the bottom of the fuselage, and buckle the other side of the landing gear. A horizontal bar, insert the buckle fixing plate into the horizontal socket on the side wall of the fuselage, and run through the horizontal socket on the moving buckle until the bumper snaps into the spherical groove;
（3）将需要配送的物品放置在货箱的货仓中，通过电磁阀封闭货仓后将货箱左右两侧的挂环挂在起落架的挂钩上，即完成固定；(3) Place the items to be delivered in the cargo compartment of the cargo box, close the cargo compartment through the solenoid valve, and hang the hanging rings on the left and right sides of the cargo box on the hooks of the landing gear to complete the fixation;
（4）将各旋翼臂内端上的插头母座与各机臂上的插头公座、各旋翼臂内端上的卡榫插口与各机臂上的卡榫均对应插接，然后控制电磁铁通电，吸附铁块；(4) Connect the female socket on the inner end of each rotor arm with the male plug seat on each arm, the tenon socket on the inner end of each rotor arm and the tenon on each arm respectively, and then control the electromagnetic The iron is electrified and absorbs the iron block;
（5）控制无人机按路线飞行配送。(5) Control the UAV to fly and deliver according to the route.
上列较佳实施例，对本发明的目的、技术方案和优点进行了进一步详细说明，所应理解的是，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。The above-listed preferred embodiments have further described the purpose, technical solutions and advantages of the present invention in detail. It should be understood that the above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Within the spirit and principles of the present invention, any modifications, equivalent replacements, improvements, etc., shall be included within the protection scope of the present invention.
| Application Number | Priority Date | Filing Date | Title |
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| CN201910760109.8ACN110341949B (en) | 2019-08-16 | 2019-08-16 | Unmanned distribution equipment and use method thereof |
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| CN201910760109.8ACN110341949B (en) | 2019-08-16 | 2019-08-16 | Unmanned distribution equipment and use method thereof |
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| CN110341949Atrue CN110341949A (en) | 2019-10-18 |
| CN110341949B CN110341949B (en) | 2024-04-12 |
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| CN201910760109.8AActiveCN110341949B (en) | 2019-08-16 | 2019-08-16 | Unmanned distribution equipment and use method thereof |
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| CN110803382A (en)* | 2019-11-21 | 2020-02-18 | 武义普巴机械设备有限公司 | A kind of express transportation industry UAV supporting transportation box |
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106347645A (en)* | 2016-09-23 | 2017-01-25 | 安徽翼讯飞行安全技术有限公司 | Unmanned aerial vehicle for distribution |
| CN106892119A (en)* | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| CN206494124U (en)* | 2017-01-24 | 2017-09-15 | 成都时代星光科技有限公司 | A kind of detachable unmanned plane |
| CN209023111U (en)* | 2018-07-30 | 2019-06-25 | 厦门天源欧瑞科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN210971516U (en)* | 2019-08-16 | 2020-07-10 | 厦门大学嘉庚学院 | Unmanned distribution equipment |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106347645A (en)* | 2016-09-23 | 2017-01-25 | 安徽翼讯飞行安全技术有限公司 | Unmanned aerial vehicle for distribution |
| CN106892119A (en)* | 2016-10-21 | 2017-06-27 | 北京京东尚科信息技术有限公司 | Automatic unloading carrier and unmanned plane |
| CN206494124U (en)* | 2017-01-24 | 2017-09-15 | 成都时代星光科技有限公司 | A kind of detachable unmanned plane |
| CN209023111U (en)* | 2018-07-30 | 2019-06-25 | 厦门天源欧瑞科技有限公司 | Multi-rotor unmanned aerial vehicle |
| CN210971516U (en)* | 2019-08-16 | 2020-07-10 | 厦门大学嘉庚学院 | Unmanned distribution equipment |
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110803382A (en)* | 2019-11-21 | 2020-02-18 | 武义普巴机械设备有限公司 | A kind of express transportation industry UAV supporting transportation box |
| CN110803382B (en)* | 2019-11-21 | 2020-04-21 | 武义普巴机械设备有限公司 | A kind of express transportation industry UAV supporting transportation box |
| Publication number | Publication date |
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| CN110341949B (en) | 2024-04-12 |
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