CN109334962A - A kind of accurate delivery device of urgent article of unmanned plane formula - Google Patents
A kind of accurate delivery device of urgent article of unmanned plane formula Download PDFInfo
- Publication number
- CN109334962A CN109334962A CN201811150808.2A CN201811150808A CN109334962A CN 109334962 A CN109334962 A CN 109334962A CN 201811150808 A CN201811150808 A CN 201811150808A CN 109334962 A CN109334962 A CN 109334962A
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- China
- Prior art keywords
- rotor
- hawser
- supply case
- unmanned plane
- movable end
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000000712 assembly Effects 0.000 claims abstract description 17
- 238000000429 assembly Methods 0.000 claims abstract description 17
- 239000000463 material Substances 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 15
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 11
- 230000003044 adaptive effect Effects 0.000 claims description 8
- 230000004888 barrier function Effects 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 6
- 239000007787 solid Substances 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 claims description 3
- 229920003023 plastic Polymers 0.000 claims description 3
- 239000004033 plastic Substances 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 claims description 3
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000000203 mixture Substances 0.000 claims 1
- 230000032258 transport Effects 0.000 claims 1
- 238000003466 welding Methods 0.000 claims 1
- 239000003651 drinking water Substances 0.000 abstract description 5
- 235000020188 drinking water Nutrition 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 16
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/52—Tilting of rotor bodily relative to fuselage
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of accurate delivery devices of urgent article of unmanned plane formula, it includes that sighting device (1), rotor tilting component (2), flying platform (3), more rotor angles adjustment component (4), rotor assemblies (5), rotor pose adjustment component (6), hawser folding and unfolding component (7), hawser movable end positioning component (8) and article deliver component (9).The present invention is a kind of accurate delivery device of urgent article of unmanned plane formula, can be used for the accurate delivery of goods and materials, food, drinking water, first-aid dressing and other items under the situations such as disaster area, region of war, personnel are stranded.
Description
Technical field
The present invention relates to a kind of article delivery device, the accurate delivery device of specifically a kind of urgent article of unmanned plane formula.
Background technique
Under disaster area, region of war and the situations such as personnel are stranded, it usually needs goods and materials, food, drinking water, first-aid dressing and other items
Delivery supply, the prior art mostly uses the mode that helicopter high-altitude is delivered or manpower ground is delivered, precision is low, low efficiency,
Risk is big and at high cost.
Summary of the invention
In view of the above existing problems in the prior art, the present invention provides a kind of urgent articles of unmanned plane formula precisely to deliver dress
It sets, can be used for the accurate delivery of goods and materials, food, drinking water, first-aid dressing and other items under the situations such as disaster area, region of war, personnel are stranded；It is logical
It crosses sighting device offer environmental information to be controlled, passes through rotor tilting component, rotor assemblies and rotor pose and adjust component
The control accurate delivery device of the urgent article of unmanned plane formula circumvents barrier and quickly reaches specified region；Then pass through hawser folding and unfolding group
Part folding and unfolding hawser, is accurately sent hawser movable end to delivery location by hawser movable end positioning component and by manually fixing, most
The accurate delivery that component carries out urgent article is delivered by article afterwards.Freedom of motion of the present invention is high, strong flexibility, urgent article
It delivers precision height and distributing procedure is steady, highly-safe, high-efficient, at low cost.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of urgent article of unmanned plane formula is precisely delivered
Device, which is characterized in that it includes sighting device, rotor tilting component, flying platform, more rotor angles adjustment component, rotor
Component, rotor pose adjustment component, hawser folding and unfolding component, hawser movable end positioning component and article deliver component.The present invention
A kind of accurate delivery device of urgent article of unmanned plane formula, can be used for goods and materials under the situations such as disaster area, region of war, personnel are stranded, food,
The accurate delivery of drinking water, first-aid dressing and other items；Environmental information is provided by sighting device to be controlled, and rotor pitching group is passed through
It is quick that part, rotor assemblies and the rotor pose adjustment component control accurate delivery device of the urgent article of unmanned plane formula circumvent barrier
Reach specified region；Then by hawser folding and unfolding component folding and unfolding hawser, by hawser movable end positioning component by hawser movable end
It accurately send to delivery location and by manually fixing, delivers the accurate delivery that component carries out urgent article finally by article.This hair
Bright freedom of motion is high, strong flexibility, urgent article deliver precision is high and distributing procedure is steady, it is highly-safe, high-efficient, at
This is low.
The rotor assemblies include propeller, propeller swivel bearing, propeller carrier and propeller electric rotating
Machine；The Internal and external cycle of propeller swivel bearing is fixed with propeller and propeller carrier bolt respectively, propeller rotating electric machine
Body is bolted on propeller carrier, and output shaft and propeller are keyed, and axial by baffle and bolt
Positioning；Propeller rotating electric machine output shaft, around the rotary motion of its axis, drives propeller relative to spiral relative to its body
The rotation of paddle carrier forms the power perpendicular to rotor assemblies plane by the reaction force of air, is that unmanned plane formula is urgent
The mobile offer precondition of the accurate delivery device of article.
The rotor pose adjustment component includes that rotor moves typed ball bearing pair, rotor moves telescopic shaft, rotor movement is hydraulic
Flexural pivot and rotor pose adjusting seat；Rotor movement typed ball bearing pair has three groups, and 120 degree of fixing end interval is welded on propeller carrying
On frame；Rotor, which moves hydraulic flexural pivot, three groups, and 120 degree of fixing end interval is welded in rotor pose adjusting seat；Rotor movement
Telescopic shaft has three groups, and both ends move typed ball bearing pair movable end with rotor respectively and rotor moves hydraulic flexural pivot movable end and is welded on one
It rises, to constitute parallel pose adjustment device, rotor moves hydraulic flexural pivot movable end and is secured relative to it end around its centre of sphere
The rotary motion of any axis of point, in conjunction with rotor movement telescopic shaft one end relative to the other end along the linear movement of its axis, spirit
Pose of the adjustment propeller carrier living relative to rotor pose adjusting seat, so as to adjust the born air reaction of rotor assemblies
The direction of power, then by the revolving speed of propeller rotating electric machine come the size of corrective action power, so that it is tight that unmanned plane formula is adjusted flexibly
The whole stress of the anxious accurate delivery device of article realizes movement and hovering under many attitude, passes rapidly through barrier and arrive
Up to designated position；In addition, the upper circular arc of rotor pose adjusting seat is small compared with the radius of lower circular arc, air-flow flows through the speed of upper surface
Faster, according to bernoulli effect, air pressure suffered by lower surface is bigger compared with upper surface, so that generating one lifts power, motor can
To separate more power for promoting, make the movement speed of the accurate delivery device of the urgent article of unmanned plane formula faster.
The rotor tilting component includes that rotor pitch arm, rotor pitch bearing, rotor pitching motor and rotor are bowed
Face upward pedestal；Rotor pitch arm is welded and fixed with rotor pose adjusting seat, the Internal and external cycle of rotor pitch bearing respectively with rotor pitching
Arm and rotor pitching foundation bolt are fixed, and the body of rotor pitching motor is bolted on rotor pitching pedestal, defeated
Shaft and rotor pitch arm are keyed；Rotor pitching motor output shaft, around the rotary motion of its axis, passes through rotation with respect to its body
Wing pitch arm drives rotor pose adjusting seat to rotate around the axis of rotor pitching motor, to realize that urgent article precisely delivers dress
The adaptive pitching of each rotor relative flight platform is set, the accurate delivery device of the urgent article of unmanned plane formula is on the one hand improved and is moving
On the other hand freedom degree and flexibility in the process execute article in the accurate delivery device of the urgent article of unmanned plane formula and precisely deliver
The relative angle of each rotor and flying platform is adjusted flexibly when task, avoids generating interference to task execution process.
More rotor angles adjustment component includes rotor arcuate movement sliding rail and rotor arcuate movement sliding block；Rotor arc
It is 360 degree of round sliding rails that shape, which moves sliding rail, rotor arcuate movement sliding block one group four, can be on rotor arcuate movement sliding rail certainly
Such as sliding；Rotor arcuate movement sliding rail welds together with flying platform, rotor arcuate movement sliding block and rotor pitching pedestal spiral shell
Bolt is fixed；Rotor arcuate movement sliding block moves freely along rotor arcuate movement sliding rail, is driven by rotor pitching pedestal corresponding
Rotor moves freely along rotor arcuate movement sliding rail, realizes the angle adjustment between adjacent rotor, when one to two rotors occur
When failure, adjust the relative position of each rotor of the accurate delivery device of the urgent article of unmanned plane formula, with reach new moving equilibrium after
Continuous work.
The hawser folding and unfolding component include reel, reel swivel bearing, reel electric rotating base, reel rotating electric machine,
Hawser, front wheel, cable guide and rear wheel；Reel electric rotating base is fixed with flying platform bolt, reel rotary shaft
The Internal and external cycle held is fixed with reel electric rotating base and reel bolt respectively, and the body of reel electric rotating base is bolted
On reel electric rotating base, output shaft and reel are keyed；The pulley base of front wheel, the pulley base of rear wheel and hawser
Guide part is bolted on flying platform, and hawser one end is fixed on reel, and other end winding reel is after a few, then according to
Hawser movable end is fixed on after the secondary pulley body by the pulley body of front wheel, the pilot hole of cable guide and rear wheel
On positioning component；With respect to its body around the rotary motion of its axis, band movable reel revolves reel rotating electric machine output shaft around its axis
Turn, realize the adaptive folding and unfolding of hawser, hawser is rolled into withdrawal when not in use, the interference urgent article of unmanned plane formula is avoided precisely to throw
Send the movement of device, when use releases hawser, is carried to delivery location and is realized artificial solid by hawser movable end positioning component
It is fixed, precondition is provided for the accurate delivery of urgent article.
The hawser movable end positioning component includes hawser movable end fixing piece, movable end positioning unmanned plane and positioning
Unmanned plane fixing seat；The movable end of hawser movable end fixing piece one end and hawser is fixedly clamped, and the other end and movable end position nothing
Man-machine bolt is fixed, and positioning unmanned plane fixing seat is bolted on flying platform；When work, put in hawser folding and unfolding component
Out under the premise of hawser, the movable end arrival that movable end positioning unmanned plane carries hawser need to carry out the position of article delivery and by people
Work is steady fixed by it, provides precondition for the accurate delivery of urgent article；When not working, movable end positioning unmanned plane passes through
Positioning unmanned plane fixing seat is realized fixes with the position of flying platform, prevents it from falling in the motion process of flying platform
It falls.
It includes that supply case arc movement device, supply case, supply case end cap, lower magnet are fixed that the article, which delivers component,
Part, lower part electromagnet, top electromagnet, upper magnet fixing member, telescopic shaft, hydraulic flexural pivot and hawser moving member；Supply case arc
Shape telecontrol equipment can be made of 360 degree of round sliding rails and a series of built-in driving devices along the sliding block that sliding rail moves freely, be fed
The sliding rail of case arc movement device is fixed with flying platform bolt, the sliding block of supply case arc movement device and lower magnet fixing member
Bolt is fixed, and lower magnet fixing member is fixed with lower part electromagnetism iron bolt again；Driving device built in hawser moving member, can be along hawser certainly
Such as movement, fixing end of the fixing end of hydraulic flexural pivot with movable end respectively with hawser moving member and telescopic shaft welds together, stretches
The movable end of contracting axis welds together with upper magnet fixing member again, and top electromagnet is bolted on magnet fixing member
On；Supply case and supply case end cap can be threadably secured, and the material of main part of supply case and supply case end cap is rigid plastics,
The bottom of supply case and the outside of supply case end cap are embedded with round stainless steel plate, enable supply case and supply case end cap respectively by
Lower part electromagnet and the absorption of top electromagnet after energization are fixed；Hydraulic flexural pivot movable end bypasses its center point with respect to its fixing end
The rotary motion of any axis passes through upper magnet along the linear movement of its axis with respect to its fixing end in conjunction with telescopic shaft movable end
Fixing piece drives the adaptive pose adjustment for realizing top electromagnet；In transportational process, supply case and supply case end cap screw thread are solid
Fixed, lower part electromagnet is bonded and is powered with supply case bottom, and supply case is smoothly absorbed and fixed on flying platform；It reaches and throws
After sending region, hawser movable end is sent to delivery location simultaneously in hawser folding and unfolding component and hawser movable end positioning component cooperating
Under the premise of realizing artificial fix, supply case arc movement device, telescopic shaft and hydraulic flexural pivot collective effect make top electric
Magnet is bonded and is powered with the supply case end cap that need to deliver supply case, and then lower part electromagnet powers off, so that the supply that need to be delivered
Case and top electromagnet smoothly adsorb fixation, and subsequently telescopic shaft drives the supply case that need to be delivered to be detached from lower part electromagnet, most
It is precisely delivered by hawser moving member band trend designated position afterwards；It delivers after reaching, electromagnet power-off in top puts down supply case so
It is driven and is returned to carry out the delivery of next supply case by hawser moving member afterwards, personnel open supply case end cap and feed；One
After place is delivered, the position of flying platform and movable end positioning unmanned plane is adjusted, carries out the urgent article essence in next place
Standard is delivered.
The present invention is a kind of accurate delivery device of urgent article of unmanned plane formula, can be used for the shapes such as disaster area, region of war, personnel are stranded
The accurate delivery of goods and materials, food, drinking water, first-aid dressing and other items under condition；Environmental information is provided by sighting device to be controlled,
Component, which is adjusted, by rotor tilting component, rotor assemblies and rotor pose controls the accurate delivery device of the urgent article of unmanned plane formula
It circumvents barrier and quickly reaches specified region；Then by hawser folding and unfolding component folding and unfolding hawser, pass through hawser movable end positioning group
Hawser movable end is accurately sent to delivery location and by manually fixing by part, is delivered component finally by article and is carried out urgent article
Precisely deliver.Freedom of motion of the present invention is high, strong flexibility, and urgent article delivers that precision is high and distributing procedure is steady, safety
Property is high, high-efficient, at low cost.
Detailed description of the invention
Fig. 1 is a kind of accurate delivery device schematic illustration of the urgent article of unmanned plane formula provided in an embodiment of the present invention；
In figure: 1, sighting device, 2, rotor tilting component, 3, flying platform, 4, more rotor angles adjustment component, 5, rotor group
Part, 6, rotor pose adjustment component, 7, hawser folding and unfolding component, 8, hawser movable end positioning component, 9, article delivery component.
Fig. 2 is rotor assemblies schematic illustration provided in an embodiment of the present invention；
In figure: 5.1, propeller, 5.2, propeller swivel bearing, 5.3, propeller carrier, 5.4, propeller rotating electric machine.
Fig. 3 is that rotor pose provided in an embodiment of the present invention adjusts assembly principle schematic diagram；
In figure: 6.1, rotor moves typed ball bearing pair, 6.2, rotor movement telescopic shaft, 6.3, the hydraulic flexural pivot of rotor movement, 6.4, rotor
Pose adjusting seat.
Fig. 4 is rotor tilting component schematic illustration provided in an embodiment of the present invention；
In figure: 2.1, rotor pitch arm, 2.2, rotor pitch bearing, 2.3, rotor pitching motor, 2.4, rotor pitching pedestal.
It is to avoid generating task execution that used rotor upwarp state is interfered to show that Fig. 5, which is provided in an embodiment of the present invention,
It is intended to.
Fig. 6 is that more rotor angles provided in an embodiment of the present invention adjust assembly principle schematic diagram；
In figure: 4.1, rotor arcuate movement sliding rail, 4.2, rotor arcuate movement sliding block.
Fig. 7 is quadrotor motor pattern figure provided in an embodiment of the present invention.
Fig. 8 is the three rotor motor pattern figures provided in an embodiment of the present invention when a rotor breaks down.
Fig. 9 ~ 10 are the two rotor motor pattern figures provided in an embodiment of the present invention when two rotors break down.
Figure 11 is the floating state air reaction force schematic diagram under quadrotor motor pattern provided in an embodiment of the present invention.
Figure 12 is the translation state air reaction force schematic diagram under quadrotor motor pattern provided in an embodiment of the present invention.
Figure 13 is the rollover states air reaction force schematic diagram under quadrotor motor pattern provided in an embodiment of the present invention.
Figure 14 is the side pose floating state air reaction force under quadrotor motor pattern provided in an embodiment of the present invention
Schematic diagram.
Figure 15 is hawser folding and unfolding assembly principle schematic diagram provided in an embodiment of the present invention；
In figure: 7.1, reel, 7.2, reel swivel bearing, 7.3, reel electric rotating base, 7.4, reel rotating electric machine, 7.5, cable
Rope, 7.6, front wheel, 7.7, cable guide, 7.8, rear wheel.
Figure 16 is hawser movable end positioning component schematic illustration provided in an embodiment of the present invention；
In figure: 8.1, hawser movable end fixing piece, 8.2, movable end positioning unmanned plane, 8.3, positioning unmanned plane fixing seat.
Figure 17 is that article provided in an embodiment of the present invention delivers assembly principle schematic diagram；
In figure: 9.1, supply case arc movement device, 9.2, supply case, 9.3, supply case end cap, 9.4, lower magnet fixing member,
9.5, lower part electromagnet, 9.6, top electromagnet, 9.7, upper magnet fixing member, 9.8, telescopic shaft, 9.9, hydraulic flexural pivot, 9.10,
Hawser moving member.
Figure 18 is the urgent accurate delivery status schematic diagram of article provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, being that a kind of accurate delivery device principle of the urgent article of unmanned plane formula provided in an embodiment of the present invention is shown
It is intended to, it includes sighting device 1, rotor tilting component 2, flying platform 3, more rotor angles adjustment component 4, rotor assemblies 5, rotation
Wing pose adjusts component 6, hawser folding and unfolding component 7, hawser movable end positioning component 8 and article and delivers component 9.The present invention is one
Kind of the accurate delivery device of the urgent article of unmanned plane formula can be used for goods and materials under the situations such as disaster area, region of war, personnel are stranded, food, drink
The accurate delivery of water, first-aid dressing and other items；Environmental information is provided by sighting device 1 to be controlled, and rotor tilting component is passed through
2, it is fast to circumvent barrier for rotor assemblies 5 and the rotor pose adjustment control accurate delivery device of the urgent article of unmanned plane formula of component 6
Speed reaches specified region；Then by hawser movable end positioning component 8 that hawser is living by 7 folding and unfolding hawser of hawser folding and unfolding component
Moved end is accurately sent to delivery location and by manually fixing, and delivers the accurate delivery that component 9 carries out urgent article finally by article.
Freedom of motion of the present invention is high, strong flexibility, and urgent article delivers that precision is high and distributing procedure is steady, highly-safe, efficiency
It is high, at low cost.
Referring to Fig. 2, being rotor assemblies schematic illustration provided in an embodiment of the present invention, it includes propeller 5.1, spiral
Paddle swivel bearing 5.2, propeller carrier 5.3 and propeller rotating electric machine 5.4；The Internal and external cycle of propeller swivel bearing 5.2
It is fixed respectively with propeller 5.1 and 5.3 bolt of propeller carrier, the body of propeller rotating electric machine 5.4 is bolted
On propeller carrier 5.3, output shaft and propeller 5.1 are keyed, and pass through baffle and bolt axially position；Propeller
5.4 output shaft of rotating electric machine, around the rotary motion of its axis, drives propeller 5.1 to carry relative to propeller relative to its body
Frame 5.3 rotates, and forms the power perpendicular to 5 plane of rotor assemblies by the reaction force of air, is the urgent object of unmanned plane formula
The mobile offer precondition of the accurate delivery device of product.
Referring to Fig. 3, being rotor pose adjustment assembly principle schematic diagram provided in an embodiment of the present invention, it includes rotor fortune
Dynamic typed ball bearing pair 6.1, rotor movement telescopic shaft 6.2, rotor move hydraulic flexural pivot 6.3 and rotor pose adjusting seat 6.4；Rotor fortune
Dynamic typed ball bearing pair 6.1 has three groups, and 120 degree of fixing end interval is welded on propeller carrier 5.3；Rotor moves hydraulic flexural pivot
6.3 have three groups, and 120 degree of fixing end interval is welded in rotor pose adjusting seat 6.4；Rotor movement telescopic shaft 6.2 has three groups,
Its both ends moves 6.1 movable end of typed ball bearing pair with rotor respectively and rotor moves hydraulic 6.3 movable end of flexural pivot and welds together, thus
Parallel pose adjustment device is constituted, rotor moves hydraulic 6.3 movable end of flexural pivot and is secured relative to it end around its center point times
The rotary motion of meaning axis, in conjunction with rotor movement 6.2 one end of telescopic shaft relative to the other end along the linear movement of its axis, flexibly
Pose of the propeller carrier 5.3 relative to rotor pose adjusting seat 6.4 is adjusted, so as to adjust the born air of rotor assemblies 5
The direction of reaction force, then by the revolving speed of propeller rotating electric machine 5.4 come the size of corrective action power, so that nothing be adjusted flexibly
The whole stress of the accurate delivery device of the man-machine urgent article of formula is realized movement and hovering under many attitude, is passed rapidly through
Barrier reaches designated position；In addition, the upper circular arc of rotor pose adjusting seat 6.4 is small compared with the radius of lower circular arc, air-flow flows through
Faster, according to bernoulli effect, air pressure suffered by lower surface is bigger compared with upper surface for the speed of upper surface, to generate a support
Lifting force, motor can separate more power for promoting, make the movement speed of the accurate delivery device of the urgent article of unmanned plane formula
Faster.
Referring to Fig. 4, being rotor tilting component schematic illustration provided in an embodiment of the present invention, it includes rotor pitch arm
2.1, rotor pitch bearing 2.2, rotor pitching motor 2.3 and rotor pitching pedestal 2.4；Rotor pitch arm 2.1 and rotor position
Appearance adjusting seat 6.4 is welded and fixed, the Internal and external cycle of rotor pitch bearing 2.2 respectively with rotor pitch arm 2.1 and rotor pitching pedestal
2.4 bolts are fixed, and the body of rotor pitching motor 2.3 is bolted on rotor pitching pedestal 2.4, output shaft and rotation
Wing pitch arm 2.1 is keyed；2.3 output shaft of rotor pitching motor, around the rotary motion of its axis, passes through rotor with respect to its body
Pitch arm 2.1 drives rotor pose adjusting seat 6.4 to rotate around the axis of rotor pitching motor 2.3, to realize urgent article essence
On the one hand the adaptive pitching of quasi- each rotor relative flight platform 3 of delivery device improves the urgent article of unmanned plane formula and precisely delivers
On the other hand the freedom degree and flexibility of device during the motion execute object in the accurate delivery device of the urgent article of unmanned plane formula
The relative angle of each rotor Yu flying platform 3 is adjusted flexibly in product when precisely delivering task, avoid generating task execution process dry
It disturbs.
Referring to Fig. 5, be it is provided in an embodiment of the present invention for avoid generating task execution interfere used by rotor
Stick up status diagram.
Referring to Fig. 6, being more rotor angle adjustment assembly principle schematic diagrames provided in an embodiment of the present invention, it includes rotor
Arcuate movement sliding rail 4.1 and rotor arcuate movement sliding block 4.2；Rotor arcuate movement sliding rail 4.1 is 360 degree of round sliding rails, rotor
It arcuate movement sliding block 4.2 1 groups four, can be slided freely on rotor arcuate movement sliding rail 4.1；Rotor arcuate movement sliding rail
4.1 weld together with flying platform 3, and rotor arcuate movement sliding block 4.2 is fixed with 2.4 bolt of rotor pitching pedestal；Rotor arc
Shape moving slide block 4.2 moves freely along rotor arcuate movement sliding rail 4.1, drives corresponding rotor by rotor pitching pedestal 2.4
It is moved freely along rotor arcuate movement sliding rail 4.1, realizes the angle adjustment between adjacent rotor, when event occurs for one to two rotors
When barrier, the relative position of each rotor of the accurate delivery device of the urgent article of unmanned plane formula is adjusted, is continued with the moving equilibrium for reaching new
Work.
Referring to Fig. 7, being quadrotor motor pattern figure provided in an embodiment of the present invention.
Referring to Fig. 8, being the three rotor motor pattern figures provided in an embodiment of the present invention when a rotor breaks down.
Fig. 9 ~ 10 are please referred to, are the two rotor motor patterns provided in an embodiment of the present invention when two rotors break down
Figure.
Figure 11 ~ 14 are please referred to, are four kinds of motion state air under quadrotor motor pattern provided in an embodiment of the present invention
Reaction force schematic diagram.
Please refer to Figure 15, be hawser folding and unfolding assembly principle schematic diagram provided in an embodiment of the present invention, it include reel 7.1,
Reel swivel bearing 7.2, reel electric rotating base 7.3, reel rotating electric machine 7.4, hawser 7.5, front wheel 7.6, hawser guiding
Part 7.7 and rear wheel 7.8；Reel electric rotating base 7.3 is fixed with 3 bolt of flying platform, reel swivel bearing 7.2 it is inside and outside
Circle is fixed with reel electric rotating base 7.3 and 7.1 bolt of reel respectively, and the body of reel electric rotating base 7.3 is solid by bolt
It is scheduled on reel electric rotating base 7.3, output shaft and reel 7.1 are keyed；The pulley base of front wheel 7.6, rear wheel 7.8
Pulley base and cable guide 7.7 are bolted on flying platform 3, and 7.5 one end of hawser is fixed on reel 7.1
On, other end winding reel 7.1 is after a few, then successively the pilot hole by the pulley body of front wheel 7.6, cable guide 7.7 with
And it is fixed on hawser movable end positioning component 8 after the pulley body of rear wheel 7.8；7.4 output shaft of reel rotating electric machine is opposite
Its body is rotated about the axis thereof around the rotary motion of its axis with movable reel 7.1, is realized the adaptive folding and unfolding of hawser 7.5, is not made
Hawser 7.5 is rolled withdrawal by the used time, avoids the movement of the interference accurate delivery device of the urgent article of unmanned plane formula, by hawser when use
7.5 release, and are carried by hawser movable end positioning component 8 to delivery location and realization is manually fixed, be the accurate throwing of urgent article
Offer precondition is provided.
Figure 16 is please referred to, is hawser movable end positioning component schematic illustration provided in an embodiment of the present invention, it includes cable
Rope movable end fixing piece 8.1, movable end positioning unmanned plane 8.2 and positioning unmanned plane fixing seat 8.3；Hawser movable end fixing piece
8.1 one end and the movable end of hawser 7.5 are fixedly clamped, and the other end is fixed with movable end positioning 8.2 bolt of unmanned plane, position nobody
Machine fixing seat 8.3 is bolted on flying platform 3；When work, the premise of hawser 7.5 is released in hawser folding and unfolding component 7
Under, the movable end arrival that movable end positioning unmanned plane 8.2 carries hawser 7.5 need to carry out the position of article delivery and by manually by it
It is steady fixed, precondition is provided for the accurate delivery of urgent article；When not working, movable end positions unmanned plane 8.2 by determining
Position unmanned plane fixing seat 8.3 is realized fixes with the position of flying platform 3, prevents it from occurring in the motion process of flying platform 3
It falls.
Figure 17 is please referred to, is that article provided in an embodiment of the present invention delivers assembly principle schematic diagram, it includes supply case arc
Shape telecontrol equipment 9.1, supply case 9.2, supply case end cap 9.3, lower magnet fixing member 9.4, lower part electromagnet 9.5, top electromagnetism
Iron 9.6, upper magnet fixing member 9.7, telescopic shaft 9.8, hydraulic flexural pivot 9.9 and hawser moving member 9.10；Supply case arcuate movement
Device 9.1 can be made of 360 degree of round sliding rails and a series of built-in driving devices along the sliding block that sliding rail moves freely, supply case arc
The sliding rail of shape telecontrol equipment 9.1 is fixed with 3 bolt of flying platform, and the sliding block of supply case arc movement device 9.1 and lower magnet are solid
Determine 9.4 bolt of part to fix, lower magnet fixing member 9.4 is fixed with 9.5 bolt of lower part electromagnet again；Hawser moving member 9.10 is built-in to be driven
Dynamic device, can move freely along hawser 7.5, the fixing end and movable end of hydraulic flexural pivot 9.9 respectively with hawser moving member 9.10 and
The fixing end of telescopic shaft 9.8 welds together, and the movable end of telescopic shaft 9.8 welds together with upper magnet fixing member 9.7 again, on
Portion's electromagnet 9.6 is bolted on magnet fixing member 9.7；Supply case 9.2 and supply case end cap 9.3 can pass through screw thread
Fixed, the material of main part of supply case 9.2 and supply case end cap 9.3 is rigid plastics, the bottom and supply case end of supply case 9.2
The outside of lid 9.3 is embedded with round stainless steel plate, the lower part after enabling supply case 9.2 and supply case end cap 9.3 to be energized respectively
Electromagnet 9.5 and the absorption of top electromagnet 9.6 are fixed；Hydraulic 9.9 movable end of flexural pivot is appointed with respect to its fixing end around its center point
The rotary motion of meaning axis passes through upper magnet along the linear movement of its axis with respect to its fixing end in conjunction with 9.8 movable end of telescopic shaft
Fixing piece 9.7 drives the adaptive pose adjustment for realizing top electromagnet 9.6；In transportational process, supply case 9.2 and supply case end
Lid 9.3 is screwed, and lower part electromagnet 9.5 is bonded and is powered with 9.2 bottom of supply case, supply case 9.2 is smoothly adsorbed solid
It is scheduled on flying platform 3；After reaching delivery service area, incited somebody to action in hawser folding and unfolding component 7 and 8 cooperating of hawser movable end positioning component
7.5 movable end of hawser is sent to delivery location and under the premise of realizing artificial fix, supply case arc movement device 9.1, telescopic shaft
9.8 and 9.9 collective effect of hydraulic flexural pivot make top electromagnet 9.6 with need to deliver supply case 9.2 supply case end cap 9.3 paste
Merge and be powered, then lower part electromagnet 9.5 powers off, so that the supply case 9.2 that need to be delivered smoothly is adsorbed with top electromagnet 9.6
Fixed, subsequently telescopic shaft 9.8 drives the supply case 9.2 that need to be delivered to be detached from lower part electromagnet 9.5, finally by hawser moving member
It precisely delivers 9.10 band trend designated positions；Deliver reach after, top electromagnet 9.6 power-off by supply case 9.2 put down then by
Hawser moving member 9.10, which drives, to be returned to carry out the delivery of next supply case 9.2, and personnel open supply case end cap 9.3 and mend
It gives；After one place is delivered, the position of flying platform 3 and movable end positioning unmanned plane 8.2 is adjusted, next place is carried out
Urgent article is precisely delivered.
Figure 18 is please referred to, is the accurate delivery status schematic diagram of urgent article provided in an embodiment of the present invention.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (7)
1. a kind of accurate delivery device of urgent article of unmanned plane formula, which is characterized in that it includes sighting device (1), rotor pitching
Component (2), flying platform (3), more rotor angles adjustment component (4), rotor assemblies (5), rotor pose adjust component (6), cable
It restricts folding and unfolding component (7), hawser movable end positioning component (8) and article deliver component (9)；The rotor assemblies (5) include
Propeller (5.1), propeller swivel bearing (5.2), propeller carrier (5.3) and propeller rotating electric machine (5.4)；Spiral
The Internal and external cycle of paddle swivel bearing (5.2) is fixed with propeller (5.1) and propeller carrier (5.3) bolt respectively, propeller rotation
The body of rotating motor (5.4) is bolted on propeller carrier (5.3), and output shaft and propeller (5.1) key connect
It connects, and passes through baffle and bolt axially position；Propeller rotating electric machine (5.4) output shaft is relative to its body around the rotation of its axis
Transhipment is dynamic, and propeller (5.1) is driven to rotate relative to propeller carrier (5.3), forms one by the reaction force of air
Perpendicular to the power of rotor assemblies (5) plane, precondition is provided for the movement of the accurate delivery device of the urgent article of unmanned plane formula.
2. a kind of accurate delivery device of urgent article of unmanned plane formula according to claim 1, which is characterized in that the rotation
Wing pose adjustment component (6) includes rotor movement typed ball bearing pair (6.1), rotor movement telescopic shaft (6.2), the hydraulic flexural pivot of rotor movement
(6.3) and rotor pose adjusting seat (6.4)；Rotor movement typed ball bearing pair (6.1) has three groups, the welding of 120 degree of fixing end interval
On propeller carrier (5.3)；Rotor, which moves hydraulic flexural pivot (6.3), three groups, and 120 degree of fixing end interval is welded on rotor
In pose adjusting seat (6.4)；Rotor movement telescopic shaft (6.2) has three groups, and both ends are living with rotor movement typed ball bearing pair (6.1) respectively
Moved end and rotor move hydraulic flexural pivot (6.3) movable end and weld together, to constitute parallel pose adjustment device, rotor fortune
Hydrodynamic pressure flexural pivot (6.3) movable end is secured relative to it the rotary motion that end bypasses any axis of its center point, transports in conjunction with rotor
Relative to the other end, along the linear movement of its axis, it is opposite that propeller carrier (5.3) is adjusted flexibly in dynamic telescopic shaft (6.2) one end
In the pose of rotor pose adjusting seat (6.4), so as to adjust the direction of the born air reaction force of rotor assemblies (5), then lead to
The revolving speed for crossing propeller rotating electric machine (5.4) carrys out the size of corrective action power, so that the urgent article essence of unmanned plane formula be adjusted flexibly
The whole stress of quasi- delivery device realizes movement and hovering under many attitude, passes rapidly through barrier and reaches specific bit
It sets；In addition, the upper circular arc of rotor pose adjusting seat (6.4) is small compared with the radius of lower circular arc, air-flow flows through the speed of upper surface more
Fastly, according to bernoulli effect, air pressure suffered by lower surface is bigger compared with upper surface, so that generating one lifts power, motor can be with
More power are separated for promoting, make the movement speed of the accurate delivery device of the urgent article of unmanned plane formula faster.
3. a kind of accurate delivery device of urgent article of unmanned plane formula according to claim 1, which is characterized in that the rotation
Wing tilting component (2) includes rotor pitch arm (2.1), rotor pitch bearing (2.2), rotor pitching motor (2.3) and rotor
Pitching pedestal (2.4)；Rotor pitch arm (2.1) is welded and fixed with rotor pose adjusting seat (6.4), rotor pitch bearing (2.2)
Internal and external cycle fixed respectively with rotor pitch arm (2.1) and rotor pitching pedestal (2.4) bolt, rotor pitching motor (2.3)
Body is bolted on rotor pitching pedestal (2.4), and output shaft and rotor pitch arm (2.1) are keyed；Rotor is bowed
Rotary motion of motor (2.3) output shaft with respect to its body around its axis is faced upward, drives rotor pose by rotor pitch arm (2.1)
Adjusting seat (6.4) is rotated around the axis of rotor pitching motor (2.3), to realize each rotor phase of the accurate delivery device of urgent article
On the one hand adaptive pitching to flying platform (3) improves the accurate delivery device of the urgent article of unmanned plane formula during the motion
Freedom degree and flexibility, on the other hand when the accurate delivery device of the urgent article of unmanned plane formula executes article and precisely delivers task
The relative angle of each rotor Yu flying platform (3) is adjusted flexibly, avoids generating interference to task execution process.
4. a kind of accurate delivery device of urgent article of unmanned plane formula according to claim 1, which is characterized in that described is more
It includes rotor arcuate movement sliding rail (4.1) and rotor arcuate movement sliding block (4.2) that rotor angle, which adjusts component (4),；Rotor arc
Moving sliding rail (4.1) is 360 degree of round sliding rails, rotor arcuate movement sliding block (4.2) one groups four, can be in rotor arcuate movement
Sliding rail slides freely on (4.1)；Rotor arcuate movement sliding rail (4.1) welds together with flying platform (3), rotor arcuate movement
Sliding block (4.2) is fixed with rotor pitching pedestal (2.4) bolt；Rotor arcuate movement sliding block (4.2) is along rotor arcuate movement sliding rail
(4.1) movement freely, by rotor pitching pedestal (2.4) drive corresponding rotor along rotor arcuate movement sliding rail (4.1) freely
Movement realizes that the angle adjustment between adjacent rotor adjusts the urgent article of unmanned plane formula when one to two rotors break down
The relative position of each rotor of accurate delivery device, is worked on the moving equilibrium for reaching new.
5. a kind of accurate delivery device of urgent article of unmanned plane formula according to claim 1, which is characterized in that the cable
Rope folding and unfolding component (7) includes reel (7.1), reel swivel bearing (7.2), reel electric rotating base (7.3), reel rotating electric machine
(7.4), hawser (7.5), front wheel (7.6), cable guide (7.7) and rear wheel (7.8)；Reel electric rotating base
(7.3) fixed with flying platform (3) bolt, the Internal and external cycle of reel swivel bearing (7.2) respectively with reel electric rotating base (7.3)
It is fixed with reel (7.1) bolt, the body of reel electric rotating base (7.3) is bolted on reel electric rotating base
(7.3) on, output shaft and reel (7.1) are keyed；The pulley base of front wheel (7.6), the pulley base of rear wheel (7.8) and
Cable guide (7.7) is bolted on flying platform (3), and hawser (7.5) one end is fixed on reel (7.1),
Other end winding reel (7.1) is after a few, then successively by the pulley body of front wheel (7.6), the pilot hole of cable guide (7.7)
And it is fixed on hawser movable end positioning component (8) after the pulley body of rear wheel (7.8)；Reel rotating electric machine (7.4) is defeated
With respect to its body around the rotary motion of its axis, band movable reel (7.1) rotates about the axis thereof shaft, realizes oneself of hawser (7.5)
Folding and unfolding is adapted to, hawser (7.5) is rolled into withdrawal when not in use, avoids the fortune of the interference accurate delivery device of the urgent article of unmanned plane formula
Dynamic, when use, releases hawser (7.5), by hawser movable end positioning component (8) carry to delivery location and realize it is artificial fixed,
Precondition is provided for the accurate delivery of urgent article.
6. a kind of accurate delivery device of urgent article of unmanned plane formula according to claim 1, which is characterized in that the cable
Rope movable end positioning component (8) includes hawser movable end fixing piece (8.1), movable end positioning unmanned plane (8.2) and positioning nothing
Man-machine fixing seat (8.3)；Hawser movable end fixing piece (8.1) one end and the movable end of hawser (7.5) are fixedly clamped, the other end with
Movable end positioning unmanned plane (8.2) bolt is fixed, and positioning unmanned plane fixing seat (8.3) is bolted on flying platform (3)
On；When work, under the premise of hawser folding and unfolding component (7) releases hawser (7.5), movable end positions unmanned plane (8.2) and carries cable
The movable end of rope (7.5) reaches the position that need to carry out article delivery and by manually that it is steady fixed, is the accurate of urgent article
It delivers and precondition is provided；When not working, movable end positions unmanned plane (8.2) and is realized by positioning unmanned plane fixing seat (8.3)
It is fixed with the position of flying platform (3), prevents it from falling in the motion process of flying platform (3).
7. a kind of accurate delivery device of urgent article of unmanned plane formula according to claim 1, which is characterized in that the object
It includes that supply case arc movement device (9.1), supply case (9.2), supply case end cap (9.3), lower magnet are solid that product, which deliver component (9),
Determine part (9.4), lower part electromagnet (9.5), top electromagnet (9.6), upper magnet fixing member (9.7), telescopic shaft (9.8), hydraulic
Flexural pivot (9.9) and hawser moving member (9.10)；Supply case arc movement device (9.1) is by 360 degree of round sliding rails and a series of
Built-in driving device can be along the sliding block composition that sliding rail moves freely, and the sliding rail of supply case arc movement device (9.1) and flight are flat
Platform (3) bolt is fixed, and the sliding block of supply case arc movement device (9.1) is fixed with lower magnet fixing member (9.4) bolt, lower magnet
Fixing piece (9.4) is fixed with lower part electromagnet (9.5) bolt again；Driving device built in hawser moving member (9.10), can be along hawser
(7.5) move freely, the fixing end of hydraulic flexural pivot (9.9) and movable end respectively with hawser moving member (9.10) and telescopic shaft
(9.8) fixing end welds together, and the movable end of telescopic shaft (9.8) welds together with upper magnet fixing member (9.7) again, on
Portion's electromagnet (9.6) is bolted on magnet fixing member (9.7)；Supply case (9.2) and supply case end cap (9.3) can
It is threadably secured, the material of main part of supply case (9.2) and supply case end cap (9.3) is rigid plastics, supply case (9.2)
Bottom and the outside of supply case end cap (9.3) are embedded with round stainless steel plate, make supply case (9.2) and supply case end cap (9.3)
Lower part electromagnet (9.5) and top electromagnet (9.6) absorption after capable of being energized respectively are fixed；Hydraulic flexural pivot (9.9) movable end
Its opposite fixing end bypasses the rotary motion of any axis of its center point, in conjunction with telescopic shaft (9.8) movable end with respect to its fixing end
Along the linear movement of its axis, the adaptive pose tune for realizing top electromagnet (9.6) is driven by upper magnet fixing member (9.7)
It is whole；In transportational process, supply case (9.2) and supply case end cap (9.3) are screwed, lower part electromagnet (9.5) and supply case
(9.2) bottom is bonded and is powered, and supply case (9.2) is smoothly absorbed and fixed on flying platform (3)；Reach delivery service area
Afterwards, hawser (7.5) movable end is sent to delivery in hawser folding and unfolding component (7) and hawser movable end positioning component (8) cooperating
Under the premise of position and realization are manually fixed, supply case arc movement device (9.1), telescopic shaft (9.8) and hydraulic flexural pivot
(9.9) collective effect makes top electromagnet (9.6) be bonded and lead to the supply case end cap (9.3) that need to deliver supply case (9.2)
Electricity, then lower part electromagnet (9.5) powers off, so that the supply case (9.2) that need to be delivered smoothly is adsorbed with top electromagnet (9.6)
Fixed, subsequently telescopic shaft (9.8) drives the supply case (9.2) that need to be delivered to be detached from lower part electromagnet (9.5), is finally moved by hawser
It precisely delivers moving part (9.10) band trend designated position；It delivers after reaching, top electromagnet (9.6) is powered off supply case (9.2)
It puts down then to be driven by hawser moving member (9.10) and return to carry out the delivery of next supply case (9.2), personnel open supply case
End cap (9.3) is fed；After one place is delivered, adjusts flying platform (3) and movable end positions unmanned plane (8.2)
Position, the urgent article for carrying out next place are precisely delivered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811150808.2A CN109334962A (en) | 2018-09-29 | 2018-09-29 | A kind of accurate delivery device of urgent article of unmanned plane formula |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811150808.2A CN109334962A (en) | 2018-09-29 | 2018-09-29 | A kind of accurate delivery device of urgent article of unmanned plane formula |
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| CN109334963A (en) * | 2018-09-30 | 2019-02-15 | 江苏师范大学 | A kind of accurate dispenser of unmanned plane formula express delivery take-away |
| CN109383800A (en) * | 2018-09-30 | 2019-02-26 | 江苏师范大学 | A kind of accurate dispenser of express delivery take-away |
| CN110465009A (en) * | 2019-07-02 | 2019-11-19 | 上海鲲哥无人机科技有限公司 | A kind of control system and control method for putting rope device |
| CN110496325A (en) * | 2019-07-02 | 2019-11-26 | 上海鲲哥无人机科技有限公司 | It is a kind of that rope device is put based on aircraft |
| CN111661281A (en) * | 2020-06-05 | 2020-09-15 | 河北柒壹壹玖工业自动化技术有限公司 | Solar emergency rescue unmanned aerial vehicle |
| CN113071670A (en) * | 2021-04-08 | 2021-07-06 | 湖南科技学院 | Rotor unmanned aerial vehicle automatic carrying device and method based on multi-branch tree coding |
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