UAV skid clamping system and UAV skid clamping device

Abstract

The present invention relates to the technical field of ground devices associated with aircraft, and specifically to a skid clamping system for unmanned aerial vehicles and a skid clamping device for unmanned aerial vehicles. The skid clamping device for unmanned aerial vehicles includes a fixed cylinder, a rotary lifting cylinder is adapted to be installed in the fixed cylinder, a rotary lifting mechanism for driving the rotary lifting cylinder to rotate and lift is provided in the fixed cylinder, a telescopic arm is installed in the rotary lifting cylinder along a horizontal guide slide, a telescopic arm driving mechanism is also provided in the rotary lifting cylinder, the telescopic arm driving mechanism is used to drive the telescopic arm to extend horizontally out of the rotary lifting cylinder when the rotary lifting cylinder rises, and the telescopic arm driving mechanism is also used to drive the telescopic arm to retract into the rotary lifting cylinder, a pressing claw assembly is provided on the telescopic arm, the pressing claw assembly is provided with a groove for clamping the skid, the pressing claw assembly is used to correspond to the skid of the unmanned aerial vehicle up and down when the rotary lifting cylinder is extended, and to clamp the skid when the rotary lifting cylinder descends.

Description

Technical Field

[0001] The present invention relates to the technical field of ground devices associated with aircraft, and in particular to a skid clamping system and a skid clamping device for an unmanned aerial vehicle. Background Art

[0002] At present, when a helicopter lands, it is usually assisted by a landing aid. The mainstream landing aid systems in the world include the French "harpoon", the Canadian "bear trap", the Russian "fishing net", etc. The mainstream in China is the "harpoon". The landing aid system can assist the landing of the helicopter, but it cannot solve the problem of the helicopter's mooring. It still requires manual operation of the mooring rope to fix the helicopter on the landing platform. As an unmanned aircraft, drones are widely used in reconnaissance, relay, geological survey, rescue and other tasks. When a drone lands on an unmanned platform (such as an unmanned ship or a distant island), it cannot be fixed by manually operating the mooring rope.

[0003] To solve this problem, the Chinese utility model patent with the authorization announcement number CN209938993U discloses a UAV recovery device, including a take-off and landing platform (i.e., the base platform in the patent), a parking area (i.e., the recovery area in the patent) on the take-off and landing platform, and a tensioning mechanism arranged on the take-off and landing platform. The tensioning mechanism includes a driving structure and two adjustment plates. The driving structure can drive the two adjustment plates to move closer or farther from each other, so that the two adjustment plates clamp or release the skid of the UAV (i.e., the landing gear in the patent). When in use, the UAV lands on the parking area, and the driving structure drives the two adjustment plates to move closer to each other, thereby clamping the skid of the UAV. If there is a certain angle error when the UAV lands, the angle of the UAV is corrected and clamped as the two adjustment plates approach.

[0004] The existing UAV recovery device can clamp the UAV skid through the tension mechanism to fix the UAV on the take-off and landing platform. However, it still has some disadvantages: when the UAV lands on the take-off and landing platform (especially when the marine rotor UAV lands on the unmanned boat), the landing point and azimuth are very uncertain. When the azimuth of the UAV deviates greatly from the set azimuth and the weight of the UAV is large, the push of the tension mechanism cannot overcome the friction between the UAV and the lifting platform and the UAV's azimuth will be adjusted, resulting in mooring failure. Summary of the invention

[0005] The purpose of the present invention is to provide a UAV skid clamping device to solve the technical problem in the prior art that tethering failure is prone to occur due to high requirements on the parking accuracy of the UAV; and also to provide a UAV skid clamping system using the UAV skid clamping device to solve the above-mentioned technical problem.

[0006] To achieve the above-mentioned purpose, the technical solution of the UAV skid clamping device provided by the present invention is: a UAV skid clamping device, comprising a fixed cylinder which is embedded in the take-off and landing platform during installation and has an opening at the top, a rotating lifting cylinder is adapted to be installed in the fixed cylinder, a rotating lifting mechanism for driving the rotating lifting cylinder to rotate and lift is provided in the fixed cylinder, a telescopic arm is installed in the rotating lifting cylinder along a horizontal guiding sliding arrangement, a telescopic arm driving mechanism is also provided in the rotating lifting cylinder, the telescopic arm driving mechanism is used to drive the telescopic arm to horizontally extend out of the rotating lifting cylinder when the rotating lifting cylinder rises, the telescopic arm driving mechanism is also used to drive the telescopic arm to retract into the rotating lifting cylinder, a pressing claw assembly is provided on the telescopic arm, the pressing claw assembly is provided with a groove for clamping the skid, the pressing claw assembly is used to correspond to the skid of the UAV up and down when the rotating lifting cylinder is extended, and to clamp the skid when descending with the rotating lifting cylinder, and the rotating lifting cylinder is used to sink into the fixed cylinder after the pressing claw assembly and the telescopic arm are retracted into the rotating lifting cylinder.

[0007] Beneficial effects: the pressure claw assembly can rotate and lift with the rotary lifting cylinder, and can be horizontally extended and retracted with the telescopic arm. Even if the landing point and azimuth of the UAV after landing are greatly deviated from the set value, the groove in the pressure claw assembly can be matched with the slide by the action of the rotary lifting cylinder and the telescopic arm, and the slide can be pressed, and the landing accuracy of the UAV is relatively low. In the present invention, the rotary lifting cylinder is adapted to the fixed cylinder. After the pressure claw assembly presses the slide, the slide will generate a reverse torque on the pressure claw assembly and the telescopic arm. Since the rotary lifting cylinder is adapted to the fixed cylinder, the rotary lifting cylinder can be prevented from tilting, thereby ensuring the pressing effect on the slide. The telescopic arm and the pressure claw assembly can be retracted into the rotary lifting cylinder. In the initial state, the clamping device occupies a small area in the horizontal direction, and can avoid the slide from pressing on the clamping device as much as possible; the rotary lifting cylinder can be retracted into the fixed cylinder, and the fixed cylinder is embedded in the take-off and landing platform when installed. When the UAV lands, the clamping device will not interfere with the landing of the UAV, ensuring a smooth landing.

[0008] Preferably, the rotary lifting mechanism comprises a rotary base rotatably mounted in a fixed cylinder, and a rotary driving component driving the rotary base to rotate; one of the rotary base and the rotary lifting cylinder is provided with at least two guide posts, and the other is provided with a guide sleeve assembled with each guide post up and down; the rotary base is provided with a lifting driving component for driving the rotary lifting cylinder to rise and fall. The cooperation of the guide post and the guide sleeve can not only ensure the stability of the rotary lifting cylinder during lifting, but also transmit torque between the rotary base and the rotary lifting cylinder.

[0009] Preferably, the rotary drive component includes a gear ring disposed in the fixed cylinder and a gear rotatably mounted on the edge of the rotary base, the gear meshes with the gear ring, and the rotary base is also provided with a motor for driving the gear to rotate. The gear and the motor are both arranged on the rotary base, and the required space is small.

[0010] Preferably, a telescopic arm cabin is provided in the rotary lifting cylinder, and the telescopic arm includes a primary arm guided and assembled in the telescopic arm cabin, and also includes a secondary arm guided and slidably assembled on the primary arm, and the telescopic arm driving mechanism is used to drive the primary arm and the secondary arm to extend and retract. The telescopic arm includes a primary arm and a secondary arm, and the telescopic arm can cover a larger area. Even if the landing point of the drone is far from the clamping device, the clamping device can still press it, further reducing the landing accuracy of the drone.

[0011] Preferably, the telescopic arm driving mechanism includes a primary arm push rod fixedly arranged in the telescopic arm cabin and slidingly matched with the primary arm guide, a primary arm nut fixedly arranged on the primary arm push rod, and the telescopic arm driving mechanism also includes a primary arm lead screw rotatably installed in the primary arm and matched with the primary arm nut, and the primary arm lead screw can be driven to extend and retract when rotating; the telescopic arm driving mechanism also includes a secondary arm push rod fixedly arranged on the secondary arm and inserted into the primary arm, and also includes a secondary arm lead screw rotatably installed in the primary arm, the secondary arm lead screw is threadedly installed in the secondary arm push rod, and the secondary arm lead screw can be driven to extend and retract when rotating. The lead screw nut mechanism is used to drive the primary arm and the secondary arm to extend and retract, and the lead screw nut mechanism has the advantages of being self-locking and convenient for precise control.

[0012] Preferably, the ends of the primary arm lead screw and the secondary arm lead screw are both provided with gears, the primary arm lead screw and the secondary arm lead screw share a motor, the output shaft of the motor is connected with a gear, and the gears of the primary arm lead screw and the secondary arm lead screw are meshed with the gears of the motor. The two lead screws share a motor, which has a lower cost on the one hand and occupies a smaller area on the other hand, thereby reducing the overall size of the clamping device.

[0013] Preferably, the pressure claw assembly includes a pressure claw mounting seat and a pressure claw rotatably mounted on the pressure claw mounting seat, a pressure claw driving mechanism for driving the pressure claw to rotate is provided in the pressure claw mounting seat, and the rotation stroke of the pressure claw has a recovery position corresponding to the pressure claw mounting seat up and down so as to be retracted into the rotary lifting cylinder with the pressure claw mounting seat, and also has a clamping position that rotates to the outside of the pressure claw mounting seat to clamp the sliding sled. The pressure claw has a recovery position and a clamping position. When in the recovery position, it is convenient to retract the entire pressure claw into the rotary lifting cylinder. The pressure claw is rotatably mounted on the pressure claw mounting seat. In actual use, the rotation angle of the pressure claw can be changed according to the extension direction of the sliding sled, thereby ensuring that the pressure claw and the sliding sled are facing each other up and down.

[0014] Preferably, the groove on the pressure claw assembly is an arc-shaped groove adapted to the slide. The groove is an arc-shaped groove, which increases the contact area with the slide and improves the pressing reliability.

[0015] Preferably, the top of the rotary lifting cylinder is closed, which can prevent rainwater from entering the rotary lifting cylinder and affecting the normal operation of the rotary lifting mechanism.

[0016] The technical solution of the UAV skid clamping system of the present invention is: a UAV skid clamping system, including a take-off and landing platform, a landing area for the UAV to land is provided on the take-off and landing platform; at least two UAV skid clamping devices are arranged around the landing area on the take-off and landing platform, the UAV skid clamping device includes a fixed cylinder embedded in the take-off and landing platform and open at the top, a rotary lifting cylinder is adapted to be installed in the fixed cylinder, a rotary lifting mechanism for driving the rotary lifting cylinder to rotate and lift is provided in the fixed cylinder, a telescopic arm is installed in the rotary lifting cylinder along the horizontal guide sliding direction, a telescopic arm driving mechanism is also provided in the rotary lifting cylinder, and the telescopic arm driving mechanism is used to When the rotary lifting cylinder rises, it drives the telescopic arm to extend horizontally out of the rotary lifting cylinder. The telescopic arm driving mechanism is also used to drive the telescopic arm to retract into the rotary lifting cylinder. A pressure claw assembly is provided on the telescopic arm. The pressure claw assembly is provided with a groove for clamping the skid. The pressure claw assembly is used to correspond to the skid of the UAV up and down when the rotary lifting cylinder is extended, and to clamp the skid when descending with the rotary lifting cylinder. The rotary lifting cylinder is used to sink into the fixed cylinder after the pressure claw assembly and the telescopic arm are retracted into the rotary lifting cylinder. The UAV skid clamping system also includes a control part, which is used to control the action of the corresponding UAV skid clamping device according to the landing point and azimuth of the UAV to clamp the skid.

[0017] Beneficial effects: the pressure claw assembly can rotate and lift with the rotary lifting cylinder, and can be horizontally extended and retracted with the telescopic arm. Even if the landing point and azimuth of the UAV after landing are greatly deviated from the set value, the groove in the pressure claw assembly can be matched with the slide by the action of the rotary lifting cylinder and the telescopic arm, and the slide can be pressed, and the landing accuracy of the UAV is relatively low. In the present invention, the rotary lifting cylinder is adapted to the fixed cylinder. After the pressure claw assembly presses the slide, the slide will generate a reverse torque on the pressure claw assembly and the telescopic arm. Since the rotary lifting cylinder is adapted to the fixed cylinder, the rotary lifting cylinder can be prevented from tilting, thereby ensuring the pressing effect on the slide. The telescopic arm and the pressure claw assembly can be retracted into the rotary lifting cylinder. In the initial state, the clamping device occupies a small area in the horizontal direction, and can avoid the slide from pressing on the clamping device as much as possible; the rotary lifting cylinder can be retracted into the fixed cylinder, and the fixed cylinder is embedded in the take-off and landing platform when installed. When the UAV lands, the clamping device will not interfere with the landing of the UAV, ensuring a smooth landing.

[0018] Preferably, the rotary lifting mechanism comprises a rotary base rotatably mounted in a fixed cylinder, and a rotary driving component driving the rotary base to rotate; one of the rotary base and the rotary lifting cylinder is provided with at least two guide posts, and the other is provided with a guide sleeve assembled with each guide post up and down; the rotary base is provided with a lifting driving component for driving the rotary lifting cylinder to rise and fall. The cooperation of the guide post and the guide sleeve can not only ensure the stability of the rotary lifting cylinder during lifting, but also transmit torque between the rotary base and the rotary lifting cylinder.

[0019] Preferably, the rotary drive component includes a gear ring disposed in the fixed cylinder and a gear rotatably mounted on the edge of the rotary base, the gear meshes with the gear ring, and the rotary base is also provided with a motor for driving the gear to rotate. The gear and the motor are both arranged on the rotary base, and the required space is small.

[0020] Preferably, a telescopic arm cabin is provided in the rotary lifting cylinder, and the telescopic arm includes a primary arm guided and assembled in the telescopic arm cabin, and also includes a secondary arm guided and slidably assembled on the primary arm, and the telescopic arm driving mechanism is used to drive the primary arm and the secondary arm to extend and retract. The telescopic arm includes a primary arm and a secondary arm, and the telescopic arm can cover a larger area. Even if the landing point of the drone is far from the clamping device, the clamping device can still press it, further reducing the landing accuracy of the drone.

[0021] Preferably, the telescopic arm driving mechanism includes a primary arm push rod fixedly arranged in the telescopic arm cabin and slidingly matched with the primary arm guide, a primary arm nut fixedly arranged on the primary arm push rod, and the telescopic arm driving mechanism also includes a primary arm lead screw rotatably installed in the primary arm and matched with the primary arm nut, and the primary arm can be driven to extend and retract when the primary arm lead screw is rotated; the telescopic arm driving mechanism also includes a secondary arm push rod fixedly arranged on the secondary arm and inserted into the primary arm, and also includes a secondary arm lead screw rotatably installed in the primary arm, the secondary arm lead screw is threadedly installed in the secondary arm push rod, and the secondary arm lead screw can be driven to extend and retract when it is rotated. The primary arm and the secondary arm are driven to extend and retract by the lead screw nut mechanism, and the lead screw nut mechanism has the advantages of being self-locking and convenient for precise control.

[0022] Preferably, the ends of the primary arm lead screw and the secondary arm lead screw are both provided with gears, the primary arm lead screw and the secondary arm lead screw share a motor, the output shaft of the motor is connected with a gear, and the gears of the primary arm lead screw and the secondary arm lead screw are meshed with the gears of the motor. The two lead screws share a motor, which has a lower cost on the one hand and occupies a smaller area on the other hand, thereby reducing the overall size of the clamping device.

[0023] Preferably, the pressure claw assembly includes a pressure claw mounting seat and a pressure claw rotatably mounted on the pressure claw mounting seat, a pressure claw driving mechanism for driving the pressure claw to rotate is provided in the pressure claw mounting seat, and the rotation stroke of the pressure claw has a recovery position corresponding to the pressure claw mounting seat up and down so as to be retracted into the rotary lifting cylinder with the pressure claw mounting seat, and also has a clamping position that rotates to the outside of the pressure claw mounting seat to clamp the sliding sled. The pressure claw has a recovery position and a clamping position. When in the recovery position, it is convenient to retract the entire pressure claw into the rotary lifting cylinder. The pressure claw is rotatably mounted on the pressure claw mounting seat. In actual use, the rotation angle of the pressure claw can be changed according to the extension direction of the sliding sled, thereby ensuring that the pressure claw and the sliding sled are facing each other up and down.

[0024] Preferably, the groove on the pressure claw assembly is an arc-shaped groove adapted to the slide. The groove is an arc-shaped groove, which increases the contact area with the slide and improves the pressing reliability.

[0025] Preferably, the top of the rotary lifting cylinder is closed, which can prevent rainwater from entering the rotary lifting cylinder and affecting the normal operation of the rotary lifting mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the UAV skid clamping system provided by the present invention when in use;

[0027] Figure 2 for Figure 1 Schematic diagram of the middle clamping device when not working;

[0028] Figure 3 for Figure 1 Schematic diagram of the middle clamping device clamping the skid;

[0029] Figure 4 for Figure 1 A schematic diagram of the structure of the rotary lifting mechanism of the middle pressing device;

[0030] Figure 5 for Figure 1 Schematic diagram of the structure of the mid-slewing lifting cylinder;

[0031] Figure 6 for Figure 1 A perspective view of the telescopic arm of the middle hold-down device;

[0032] Figure 7 for Figure 1 A schematic diagram of the structure of the middle clamping device when the middle clamping claw assembly is not working;

[0033] Figure 8 for Figure 1 Schematic diagram of the structure of the middle clamping device when the middle clamping claw assembly clamps the sliding skid.

[0034] Description of reference numerals:

[0035] 1. Lifting and landing platform; 2. Clamping device; 21. Fixed cylinder; 22. Mounting flange; 23. Rotating lifting cylinder; 24. Telescopic arm; 25. Pressing claw assembly; 26. Rotating base; 27. Bearing seat; 28. First gear; 29. ​​First reducer; 210. First motor; 211. Guide sleeve; 212. Lifting electric rod; 213. Electric rod cylinder; 214. Electric rod push rod; 215. Guide column; 216. Telescopic arm cabin; 217. First arm; 218. First arm push rod; 219. First arm lead screw; 220. First arm nut; 221. Second motor; 222. Second reducer; 223. Second gear; 224. Second arm lead screw; 225. Second arm; 226. Second arm push rod; 227. Pressing claw mounting seat; 228. Pressing claw; 3. UAV; 31. Sled. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention, that is, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0038] It should be noted that relational terms such as "first" and "second" that may appear are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, elements defined by the sentence "including a...", etc., do not exclude the process or method that includes the elements.

[0039] In the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" that may appear should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0040] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the term "provided with" that may appear should be understood in a broad sense. For example, the object "provided with" may be a part of the body, or may be arranged separately from the body and connected to the body, and the connection may be a detachable connection or an inseparable connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] The present invention is described in further detail below in conjunction with embodiments.

[0042] Specific embodiments of the UAV skid clamping system provided by the present invention:

[0043] like Figures 1 to 8 As shown, the UAV skid clamping system (hereinafter referred to as the clamping system) includes a take-off and landing platform 1, and there is a landing area on the take-off and landing platform 1, and the landing area is for the UAV 3 to land. Usually, the landing area will be provided with an indication mark or a grille and equipped with a harpoon structure. A plurality of clamping devices 2 are arranged around the landing area on the take-off and landing platform 1, and there are eight clamping devices 2 here, and the clamping devices 2 are integrally embedded in the take-off and landing platform 1.

[0044] The structure of the clamping device 2 is as follows: Figures 2 to 8 As shown, the clamping device 2 includes a fixed cylinder 21, and a mounting flange 22 is provided on the top of the fixed cylinder 21. When in use, a hole is opened on the lifting and landing platform 1, and the fixed cylinder 21 is placed in it, and the mounting flange 22 is fixed to the lifting and landing platform 1. After installation, the top surface of the mounting flange 22 is flush with the top surface of the lifting and landing platform 1. Of course, the top surface of the mounting flange 22 can also be lower than the top surface of the lifting and landing platform 1. A rotating lifting cylinder 23 is adaptively installed in the fixed cylinder 21. The adaptation here means that the sizes of the two are basically the same. The rotating lifting cylinder 23 can move up and down and rotate in the fixed cylinder 21. When the rotating lifting cylinder 23 is subjected to torque, it will be directly transmitted to the fixed cylinder 21. The fixed cylinder 21 applies a reverse force to it to prevent the rotating lifting cylinder 23 from swinging. As shown Figure 5 As shown, the rotary lifting cylinder 23 is a structure with a closed top and an open bottom.

[0045] In order to drive the rotary lifting cylinder 23 to rotate and lift, the pressing device 2 is equipped with a rotary lifting drive mechanism, such as Figure 4 and Figure 5 As shown, the rotary lifting drive mechanism includes a rotary base 26 located in the fixed cylinder 21, a bearing seat 27 is installed in the middle position of the rotary base 26, and a bearing matched with the bearing seat 27 is installed on the rotary base 26, so that the rotary base 26 is rotatably installed in the fixed cylinder 21. A gear ring (not shown in the figure) is installed on the inner wall of the fixed cylinder 21, and a first gear 28 is rotatably installed at the edge of the rotary base 26. The first gear 28 is meshed with the gear ring, and the rotation of the first gear 28 can drive the rotary base 26 to rotate. A first motor 210 and a first reducer 29 are also installed on the rotary base 26, and the first motor 210 is connected to the first gear 28 through the first reducer 29. Among them, the number of first gears 28 can be increased or decreased according to actual conditions.

[0046] like Figure 4As shown, the rotary lifting drive mechanism also includes a guide sleeve 211 fixedly mounted on the rotary base 26 and a guide column 215 mounted on the rotary lifting cylinder 23, and the guide column 215 is adaptively inserted into the guide sleeve 211. Among them, the number of guide columns 215 and guide sleeves 211 is four and arranged at intervals in the circumferential direction. In other embodiments, the number of guide columns 215 and guide sleeves 211 can be increased or decreased according to actual conditions. Through the cooperation of the guide column 215 and the guide sleeve 211, when the rotary base 26 rotates, the rotary lifting cylinder 23 also rotates.

[0047] like Figure 4 As shown, a lifting electric rod 212 is installed on the rotary base 26. The lifting electric rod 212 includes an electric rod cylinder 213 fixedly installed on the rotary base 26, and also includes an electric rod push rod 214 fixed on the rotary lifting cylinder 23. The lifting electric rod 212 can drive the rotary lifting cylinder 23 to move up and down, and the guidance is achieved through the cooperation of the guide sleeve 211 and the guide column 215 during the lifting process. In other embodiments, the guide sleeve 211 can be fixed on the rotary lifting cylinder 23, and the guide column 215 can be fixed on the rotary base 26.

[0048] like Figure 5 As shown, a telescopic arm cabin 216 extending horizontally is provided in the rotary lifting cylinder 23. The telescopic arm cabin 216 has an outlet located on the outer peripheral surface of the rotary lifting cylinder 23. The cross section of the telescopic arm cabin 216 is square. Figure 6 The telescopic arm 24 of this embodiment is a two-stage telescopic arm. The telescopic arm 24 includes a primary arm 217 that is guided and slidably assembled in the telescopic arm compartment 216, and also includes a secondary arm 225 that is guided and slidably assembled in the primary arm 217, wherein the cross section of the secondary arm 225 is also square. When not in use, the secondary arm 225 is retracted into the primary arm 217, and the primary arm 217 is retracted into the telescopic arm compartment 216. To drive the primary arm 217 and the secondary arm 225 to extend and retract, as shown in FIG. Figure 6 As shown, a primary arm push rod 218 is slidably installed at one end of the primary arm 217 facing away from the secondary arm 225, and the primary arm push rod 218 is fixed on the side wall of the telescopic arm compartment 216. A primary arm nut 220 is fixedly installed on the primary arm push rod 218, and a primary arm lead screw 219 is rotatably installed in the primary arm 217, and the primary arm lead screw 219 is engaged with the primary arm nut 220. Since the primary arm lead screw 219 is only rotatably installed in the primary arm 217, it will not be telescopic relative to the primary arm 217. When the primary arm lead screw 219 rotates, the primary arm lead screw 219 and the primary arm nut 220 cooperate to drive the primary arm 217 to telescopically move relative to the primary arm push rod 218 and the telescopic arm compartment 216.

[0049] A secondary arm lead screw 224 is rotatably mounted in the primary arm 217, and a secondary arm push rod 226 is fixedly mounted in the secondary arm 225. The secondary arm lead screw 224 is threaded into the secondary arm push rod 226, and when the secondary arm lead screw 224 rotates, the secondary arm 225 can be driven to telescopically move. In order to drive the primary arm lead screw 219 and the secondary arm lead screw 224 to rotate, a second gear 223 is fixedly mounted at the ends of the primary arm lead screw 219 and the secondary arm lead screw 224, a second motor 221 and a second reducer 222 are fixedly mounted in the primary arm 217, and a second gear 223 is also mounted on the output shaft of the second reducer 222, and the second gear 223 on the second reducer 222 is meshed with the second gear 223 at the ends of the primary arm lead screw 219 and the secondary arm lead screw 224 to realize transmission.

[0050] The structure of the pressure claw assembly 25 is as follows: Figure 7 and Figure 8 As shown, the pressing claw assembly 25 includes a pressing claw mounting seat 227 and a pressing claw 228 rotatably mounted on the pressing claw mounting seat 227, the pressing claw mounting seat 227 is fixedly mounted on the secondary arm 225, a pressing claw driving mechanism for driving the pressing claw 228 to rotate is provided in the pressing claw mounting seat 227, the pressing claw driving mechanism includes a motor and a gear set, the motor and the gear set are connected with the pressing claw 228, so that the pressing claw 228 can be driven to rotate, and the end of the pressing claw 228 has a groove matching the skid 31. Under the initial state, the pressing claw 228 rotates to the pressing claw mounting seat 227, does not take up extra space, and is stored in the telescopic arm cabin 216 with the telescopic arm 24, and the pressing claw 228 is in the recovery position at this time. During work, the pressing claw 228 swings to the outside of the pressing claw mounting seat 227, and makes the groove of the pressing claw 228 parallel to the skid 31, and then descends and presses the skid 31, and the pressing claw 228 is in the pressing position at this time.

[0051] During assembly of the present invention, the pressure claw assembly 25 is installed at the end of the telescopic arm 24, the telescopic arm 24 is installed in the telescopic arm compartment 216 of the rotary lifting cylinder 23 through the primary arm push rod 218, the rotary lifting cylinder 23 is installed in the fixed cylinder 21 through the lifting electric rod 212, the guide sleeve 211, the guide column 215, and the rotary base 26, and the fixed cylinder 21 is installed on the lifting and lowering platform 1 through the mounting flange 22.

[0052] The clamping system of this embodiment also includes a control part, which includes a visual sensor and a control computer, and the two are connected.

[0053] In the initial state, the pressure claw assembly 25 retracts into the telescopic arm cabin 216 along with the telescopic arm 24, and the rotary lifting cylinder 23 sinks into the fixed cylinder 21 as a whole. When the UAV 3 lands on the take-off and landing platform 1, the visual sensor captures an image, and the control computer connected to the visual sensor uses an image recognition algorithm to measure the position and direction of the skid 31, calculates the position of the clamping point, and the control computer calculates the amount of activity of each degree of freedom according to the position of the clamping point. After that, the rotary lifting cylinder 23 rises and rotates to make the telescopic arm 24 point to the clamping point of the skid 31. After the rotary lifting cylinder 23 rises to the right position, the telescopic arm 24 extends, and the pressure claw 228 at the front end of the telescopic arm 24 rotates so that the groove of the pressure claw 228 is parallel to the skid 31. After the telescopic arm 24 is extended to the right position, the rotary lifting cylinder 23 descends so that the groove of the pressure claw 228 contacts the skid 31 and applies a preload force to complete the clamping. The withdrawal process of the UAV 3 when taking off is the opposite.

[0054] In actual use, when the drone 3 lands on the take-off and landing platform 1, it will directly press on some of the clamping devices 2. The clamping devices 2 that are pressed cannot work normally, while the clamping devices 2 that are not pressed can work normally. By increasing the number of clamping devices 2 and arranging the positions of each clamping device 2 reasonably, no matter what the position and orientation of the drone 3 is after landing, there is a clamping device 2 that is not pressed and can cooperate with the clamping skid 31. Of course, in extreme cases, only two clamping devices 2 can be retained for normal use.

[0055] In this embodiment, the top of the rotary lifting cylinder 23 is closed. In other embodiments, the top of the rotary lifting cylinder 23 can be an open structure, in which case the clamping system needs to be equipped with a shielding cover or shielding hood.

[0056] In this embodiment, the groove on the pressure claw assembly 25 is an arc groove, and the arc groove is adapted to the shape of the slider 31. In other embodiments, the groove on the pressure claw assembly 25 is a square groove, or the groove on the pressure claw assembly 25 is formed by a notch on the pressure claw assembly 25, and the notch has a horizontal surface and a vertical surface.

[0057] In this embodiment, the pressure claw assembly 25 includes a pressure claw mounting seat 227 and a pressure claw 228 rotatably mounted on the pressure claw mounting seat 227. The pressure claw mounting seat 227 is provided with a pressure claw driving mechanism for driving the pressure claw 228 to rotate, and the pressure claw driving mechanism includes a motor and a gear set. In other embodiments, the pressure claw 228 is fixedly mounted on the pressure claw mounting seat 227 and no longer rotates.

[0058] In this embodiment, the primary arm push rod 218, the primary arm nut 220, the primary arm lead screw 219, the secondary arm push rod 226, the secondary arm lead screw 224, the second motor 221, the second reducer 222 and the three second gears 223 together form a telescopic arm driving mechanism capable of driving the primary arm 217 and the secondary arm 225 to extend and retract, and the primary arm lead screw 219 and the secondary arm lead screw 224 share a motor. In other embodiments, the primary arm lead screw 219 and the secondary arm lead screw 224 are equipped with motors separately. In other embodiments, the telescopic arm driving mechanism includes a first part for driving the primary arm 217 to reciprocate and a second part for driving the secondary arm 225 to reciprocate, wherein the first part includes a first electric push rod fixed in the telescopic arm cabin 216, and the first electric push rod pushes the primary arm 217 to reciprocate; the second part includes a second electric push rod fixed on the primary arm 217, and the second electric push rod pushes the secondary arm 225 to reciprocate.

[0059] In this embodiment, the telescopic arm 24 includes a primary arm 217 and a secondary arm 225. In other embodiments, the telescopic arm 24 may also include a tertiary arm or more. In other embodiments, the telescopic arm 24 only includes the primary arm 217, and the pressure claw assembly 25 is mounted on the primary arm 217.

[0060] In this embodiment, the ring gear in the fixed cylinder 21, the first gear 28, the first reducer 29, and the first motor 210 together form a rotary drive component for driving the rotary lifting cylinder 23. In other embodiments, the rotary drive component includes a motor disposed at the bottom of the fixed cylinder 21, and the motor directly drives the rotary base 26 to rotate.

[0061] In this embodiment, the lifting electric rod 212 constitutes a lifting driving component capable of driving the rotary lifting cylinder 23 to move upward and downward. In other embodiments, the lifting driving component may be a direct-acting structure such as a hydraulic cylinder.

[0062] In this embodiment, the rotary lifting mechanism includes a rotary base 26 rotatably mounted in the fixed cylinder 21 and a rotary driving component driving the rotary base 26 to rotate, and a lifting driving component driving the rotary lifting cylinder 23 to rise and fall is arranged on the rotary base 26. In other embodiments, the rotary lifting mechanism includes a support plate arranged in the fixed cylinder 21, the lifting driving component drives the support plate to rise and fall, the support plate is provided with a rotary driving component, and the rotary driving component drives the rotary lifting cylinder 23 to rotate.

[0063] Specific embodiments of the UAV skid clamping device of the present invention:

[0064] The structure of the UAV skid clamping device is consistent with the clamping device in each embodiment of the UAV skid clamping system described above, and will not be repeated here.

[0065] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions recorded in the aforementioned embodiments without creative work, or replace some of the technical features therein with equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. UAV skid clamping device, characterized by: The invention comprises a fixed cylinder (21) which is embedded in the lifting platform (1) during installation and has an open top. A rotary lifting cylinder (23) is fitted in the fixed cylinder (21). A rotary lifting mechanism for driving the rotary lifting cylinder (23) to rotate and lift is provided in the fixed cylinder (21). A telescopic arm (24) is provided in the rotary lifting cylinder (23) along a horizontal guide slide. A telescopic arm driving mechanism is also provided in the rotary lifting cylinder (23). The telescopic arm driving mechanism is used to drive the telescopic arm (24) to extend horizontally out of the rotary lifting cylinder (23) when the rotary lifting cylinder (23) rises. The driving mechanism is also used for driving the telescopic arm (24) to retract into the rotary lifting cylinder (23). The telescopic arm (24) is provided with a pressure claw assembly (25). The pressure claw assembly (25) is provided with a groove for pressing the skid (31). The pressure claw assembly (25) is used for corresponding to the skid (31) of the drone (3) when the rotary lifting cylinder (23) is extended, and for pressing the skid (31) when the rotary lifting cylinder (23) moves downward. The rotary lifting cylinder (23) is used for sinking into the fixed cylinder (21) after the pressure claw assembly (25) and the telescopic arm (24) are retracted into the rotary lifting cylinder (23).

2. The UAV skid clamping device according to claim 1 is characterized in that: The rotary lifting mechanism comprises a rotary base (26) rotatably mounted in a fixed cylinder (21), and a rotary driving component for driving the rotary base (26) to rotate; one of the rotary base (26) and the rotary lifting cylinder (23) is provided with at least two guide posts (215), and the other is provided with a guide sleeve (211) assembled with the guide posts (215) in an upward and downward guide manner; and the rotary base (26) is provided with a lifting driving component for driving the rotary lifting cylinder (23) to move upward and downward.

3. The UAV skid clamping device according to claim 2 is characterized in that: The rotary drive component comprises a gear ring arranged in the fixed cylinder (21) and a gear rotatably mounted on the edge of the rotary base (26), the gear meshing with the gear ring, and the rotary base (26) is also provided with a motor for driving the gear to rotate.

4. The UAV skid clamping device according to claim 1, 2 or 3, characterized in that: A telescopic arm cabin (216) is provided in the rotary lifting cylinder (23); the telescopic arm (24) comprises a primary arm (217) guided and assembled in the telescopic arm cabin (216), and a secondary arm (225) guided and slidably assembled on the primary arm (217); the telescopic arm driving mechanism is used for driving the primary arm (217) and the secondary arm (225) to extend and retract.

5. The UAV skid clamping device according to claim 4, characterized in that: The telescopic arm driving mechanism comprises a primary arm push rod (218) fixedly arranged in the telescopic arm cabin (216) and slidingly matched with the primary arm (217), a primary arm nut (220) fixedly arranged on the primary arm push rod (218), and the telescopic arm driving mechanism also comprises a primary arm lead screw (219) rotatably arranged in the primary arm (217) and matched with the primary arm nut (220), and when the primary arm lead screw (219) is rotated, the primary arm (217) can be driven to extend and retract; the telescopic arm driving mechanism also comprises a secondary arm push rod (226) fixedly arranged on the secondary arm (225) and inserted into the primary arm (217), and also comprises a secondary arm lead screw (224) rotatably arranged in the primary arm (217), the secondary arm lead screw (224) is threadedly installed in the secondary arm push rod (226), and when the secondary arm lead screw (224) is rotated, the secondary arm (225) can be driven to extend and retract.

6. The UAV skid clamping device according to claim 5, characterized in that: The ends of the primary arm lead screw (219) and the secondary arm lead screw (224) are both provided with gears. The primary arm lead screw (219) and the secondary arm lead screw (224) share a motor. The output shaft of the motor is connected to the gears. The gears of the primary arm lead screw (219) and the secondary arm lead screw (224) are both meshed with the gears of the motor.

7. The UAV skid clamping device according to claim 1, 2 or 3, characterized in that: The pressing claw assembly (25) comprises a pressing claw mounting seat (227) and a pressing claw (228) rotatably mounted on the pressing claw mounting seat (227); a pressing claw driving mechanism for driving the pressing claw (228) to rotate is arranged in the pressing claw mounting seat (227); the rotation stroke of the pressing claw (228) comprises a recovery position corresponding to the pressing claw mounting seat (227) so as to be retracted into the rotary lifting cylinder (23) along with the pressing claw mounting seat (227); and a pressing position rotating to the outside of the pressing claw mounting seat (227) so as to press the sliding skid (31).

8. The UAV skid clamping device according to claim 1, 2 or 3, characterized in that: The groove on the pressure claw assembly (25) is an arc-shaped groove adapted to the sliding skid (31).

9. The UAV skid clamping device according to claim 1, 2 or 3, characterized in that: The top of the rotary lifting cylinder (23) is closed.

10. A skid clamping system for an unmanned aerial vehicle, comprising a take-off and landing platform (1), wherein the take-off and landing platform (1) is provided with a landing area for a unmanned aerial vehicle (3) to land; the characteristics of the system are as follows: At least two UAV skid clamping devices as described in any one of claims 1 to 9 are arranged around the landing area on the take-off and landing platform (1), and the UAV skid clamping system also includes a control part, which is used to control the movement of the corresponding UAV skid clamping device according to the landing point and azimuth angle of the UAV (3) to clamp the skid (31).

Images