Unmanned aerial vehicle three-jaw automatic clamping mechanism based on guide rails and sliding blocks

Abstract

The invention relates to an unmanned aerial vehicle three-jaw automatic clamping mechanism based on a guide rail sliding block, and aims to solve the problem that in the launching process of an unmanned aerial vehicle, due to the fact that an existing launching platform cannot accurately position the launching position and posture of the unmanned aerial vehicle, normal launching of the unmanned aerial vehicle is affected. The device is composed of a locking mounting bottom plate, an electric push rod, a rotating shaft, a center chuck, a guide rail, a first guide rail sliding block, a second guide rail sliding block, a sliding block connecting plate, a connecting rod, a V-shaped plate, a supporting block and a top platform. When the unmanned aerial vehicle takes off and lands on the top platform, the electric push rod drives the driving guide rail sliding block to move along the guide rail after receiving a signal, and the driving guide rail sliding block is connected with the center chuck through the connecting rod and drives the center chuck to rotate around the rotating shaft, so that the other two driven guide rail sliding blocks are driven to move; the three first guide rail sliding blocks drag the second guide rail sliding block with the V-shaped plate to move through the sliding block connecting plate, and clamping and releasing of the device are achieved.

Description

Technical Field

[0001] The invention relates to a UAV launching and recovery device, and in particular to a UAV three-claw automatic clamping mechanism based on a guide rail slider. Background Art

[0002] The launch of a drone has a direct impact on the battlefield survivability, reusability, regional adaptability, operational flexibility and other indicators of the drone. It is generally considered to be one of the most difficult and critical steps in drone operations. Once a problem occurs in the launch of a drone, the consequences are very serious. Therefore, whether it can be launched safely and reliably is one of the most important indicators for evaluating the performance of a drone. The take-off and landing platform used for launching and recovering vertical take-off and landing drones locates the launch position and attitude of the drone through the landing gear before the drone takes off. The reliability of positioning directly affects whether the drone can be successfully launched. Therefore, how to achieve reliable positioning of the drone landing gear is a key technology in the launch and recovery of drones.

[0003] The Chinese patent with publication number CN202021287282.5 provides a clamping and positioning mechanism for a UAV workstation, which controls the movement of the clamping plate by hand-cranking to achieve the clamping and release of the UAV. However, it can only keep the UAV in a stable posture during launch. Due to manual operation, the position accuracy of the UAV during takeoff cannot be guaranteed; the PCT patent application with publication number WO2019 / 127225 discloses a UAV positioning device, which uses a motor instead of manual operation and includes two positioning components. The UAV is clamped or released from two perpendicular directions to achieve the positioning operation of the UAV. However, the device has a relatively complex structure and a large size, and its ease of application needs to be improved. Summary of the invention

[0004] The main purpose of the present invention is to solve the technical problem that during the launch of a UAV, the existing launch platform cannot reliably locate the position and posture of the UAV, thus affecting the normal launch of the UAV, and to provide a UAV three-claw automatic clamping mechanism based on a guide rail slider.

[0005] In order to achieve the above-mentioned invention object, the present invention provides the following technical solutions:

[0006] A three-claw automatic clamping mechanism for a UAV based on a guide rail slider includes a locking mounting bottom plate and a top platform, and its special features are:

[0007] The top platform is provided with three positioning grooves, each of which is in the shape of a long strip, and the position of each positioning groove corresponds to the position of the hook of the landing gear of the UAV to be clamped;

[0008] The top platform is fixedly connected to the locking mounting base plate through a support block; an electric push rod and a rotating shaft are installed on the locking mounting base plate; a central chuck is connected to the rotating shaft, and the outer periphery of the central chuck is hinged to one end of three connecting rods, and the three connecting rods are evenly distributed on the outer periphery of the central chuck; the other ends of the three connecting rods are hinged to a first guide rail slider, one of which is connected to the output end of the electric push rod at the same time and is an active guide rail slider, and the other two are passive guide rail sliders;

[0009] Two passive guide rail sliders are respectively hinged to one end of a slider connecting plate, and the other ends of the two slider connecting plates are hinged to a second guide rail slider; an active guide rail slider is fixedly connected to one end of a slider connecting plate, and the other end of the slider connecting plate is fixedly connected to a second guide rail slider; a V-shaped plate is installed on each second guide rail slider through a support; each support passes through a corresponding positioning groove on the top platform; each V-shaped plate is provided with a barb installation port; the V-shaped plate on the second guide rail slider hinged to the two passive guide rail sliders through the slider connecting plate is used to clamp two landing gear barbs on the rear side of the drone, and the V-shaped plate on the second guide rail slider fixedly connected to an active guide rail slider through the slider connecting plate is used to clamp a landing gear barb on the front side of the drone; a guide rail is provided below each first guide rail slider and the second guide rail slider, and the guide rail is installed on the locking installation base plate, wherein the extension direction of each guide rail corresponding to the bottom of the second guide rail slider is consistent with the extension direction of the long strip positioning groove corresponding to the V-shaped plate installed on the second guide rail slider;

[0010] The lower part of the locking installation base plate is connected to the output end of a rotary drive device for driving the entire device to rotate.

[0011] Furthermore, the electric push rod is arranged between two guide rails corresponding to the second guide rail sliders fixedly connected to the passive guide rail slider through a slider connecting plate; the output end of the electric push rod is connected to the active guide rail slider through a push rod connecting piece.

[0012] Furthermore, the top platform is circular, and the three positioning grooves arranged thereon are all located at the edge of the top platform, and the extending directions are parallel to each other.

[0013] Furthermore, two axially symmetrical rectangular openings are provided on the top platform to reduce the weight of the top platform.

[0014] Furthermore, each of the first guide rail sliders and the second guide rail sliders have the same shape and size, and the shapes of the corresponding guide rails below each of the first guide rail sliders and the second guide rail sliders are also the same; the lengths of the guide rails below each of the first guide rail sliders and the second guide rail sliders are equal.

[0015] Furthermore, the central chuck is an equilateral triangle chuck, and the three connecting rods are hinged on the three corners of the central chuck respectively.

[0016] Furthermore, there are two types of support blocks, namely support blocks A and support blocks B, there are two support blocks A and four support blocks B; the two support blocks A are respectively fixedly connected to the front sides of the two passive guide rail sliders, the two support blocks B are respectively fixedly connected to the two sides of the guide rails corresponding to the second guide rail sliders connected to the active guide rail sliders, and the other two support blocks B are fixedly connected between the two guide rails corresponding to the second guide rail sliders hinged to the passive guide rail sliders through the slider connecting plate, and are located near the edge of the locking mounting base plate.

[0017] Furthermore, the locking mounting base plate is rectangular, and the guide rail corresponding to the second guide rail slider connected to the active guide rail slider is fixedly connected to the middle of one short side of the locking mounting base plate, and two guide rails corresponding to the second guide rail slider hinged to the passive guide rail slider through the slider connecting plate are fixedly connected to both sides of the other short side of the locking mounting base plate.

[0018] Furthermore, each of the connecting rods and the central chuck and the first guide rail slider, the two passive guide rail sliders and the slider connecting plate, and the two slider connecting plates and the second guide rail slider are all hinged through pins.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The three-claw automatic clamping mechanism based on the guide rail slider provided by the present invention can realize automatic centering of the UAV by positioning the landing gear during the take-off and landing of the UAV, that is, the position and state of the UAV can be adjusted by positioning the landing gear to ensure that it is accurately aligned at a specific launch or landing point, thereby greatly simplifying the difficulty of manual take-off and landing; the self-centering repeat positioning accuracy of the present invention can reach ±0.5mm, which is at the domestic advanced level.

[0021] 2. The present invention provides a three-claw automatic clamping mechanism based on a guide rail slider, which converts the circular motion of the center chuck into the three-point linear motion of the guide rail slider through the self-drive of the electric push rod and the guidance of the three-point guide rail slider; by controlling the movement direction of the electric push rod, the forward and backward linear motion of the guide rail slider is controlled, so that the drone can be clamped and released.

[0022] 3. The relevant innovative technologies and process solutions based on the present invention can be applied to other project scenarios as general technologies, and can perform clamping, positioning, assembly and other operations in different scenarios; it is suitable for mechanical processing, assembly, welding, packaging and other fields, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1It is a structural schematic diagram of an embodiment of a three-claw automatic clamping mechanism based on a guide rail slider of the present invention;

[0024] Figure 2 It is a structural schematic diagram of a locking device in an embodiment of a three-claw automatic clamping mechanism based on a guide rail slider of the present invention;

[0025] Figure 3 This is a working principle diagram of an embodiment of a three-claw automatic clamping mechanism based on a guide rail slider of the present invention, wherein (a) is an open state and (b) is a clamped state;

[0026] Figure 4 Schematic diagram of the hook structure of the UAV landing gear, where (a) is the main view, (b) is the side view, and (c) is the axonometric view.

[0027] Description of reference numerals:

[0028] 1-locking mounting base plate, 2-electric push rod, 3-center chuck, 4-rotating axis, 5-push rod connector, 6-first guide rail slider, 7-slider connecting plate, 8-second guide rail slider, 9-connecting rod, 10-pin shaft, 11-support block A, 12-support block B, 13-guide rail, 14-V-shaped plate, 15-top platform. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0030] The present invention provides a three-claw automatic clamping mechanism for a drone based on a guide rail slider, such as Figure 1 As shown, it includes a locking mounting base plate 1, and a top platform 15 fixedly connected to the locking mounting base plate 1 through a support block; the top platform 15 is circular, and three long strip positioning grooves are arranged near the edge thereof, and the extending directions of each positioning groove are parallel to each other, and their positions correspond to the positions of the hooks of the landing gear of the UAV to be clamped; there are also two axially symmetrical rectangular openings on the top platform 15, which are used to reduce the weight of the top platform 15;

[0031] like Figure 2 As shown, it also includes an electric push rod 2 installed on the locking mounting base plate 1 and a push rod connecting piece 5 connected to the electric push rod 2; the locking mounting base plate 1 is rectangular, and a rotating shaft 4 is also arranged on it; a center chuck 3 in the shape of an equilateral triangle is installed on the rotating shaft 4; each corner of the center chuck 3 is connected to one end of a connecting rod 9 through a pin 10, and the other end of each connecting rod 9 is provided with a first guide rail slider 6, and one of the first guide rail sliders 6 is simultaneously connected to the push rod connecting piece 5, which is an active guide rail slider, and the other two are passive guide rail sliders;

[0032] Two passive guide rail sliders are connected to one end of a slider connecting plate 7 through a pin shaft 10, and the other ends of the two slider connecting plates 7 are connected to a second guide rail slider 8 through a pin shaft 10; an active guide rail slider is fixedly connected to one end of a slider connecting plate 7, and the other end of the slider connecting plate 7 is fixedly connected to a second guide rail slider 8; a V-shaped plate 14 is installed on each second guide rail slider 8 through a support, each support passes through a corresponding positioning groove on the top platform 15, and each V-shaped plate 14 is provided with a barb installation opening facing the inner side of the top platform, and the V-shaped plate 14 on the second guide rail slider 8 hinged to the two passive guide rail sliders through the slider connecting plate 7 is used to clamp two landing gear barbs on the rear side of the drone, and the V-shaped plate 14 on the second guide rail slider 8 fixedly connected to an active guide rail slider through the slider connecting plate 7 is used to clamp a landing gear barb on the front side of the drone;

[0033] Each first guide rail slider 6 and second guide rail slider 8 are equal in shape and size, and are provided with a guide rail 13 below them, which is mounted on the locking mounting base plate 1, and each guide rail 13 is also the same in shape; the length of the guide rail 13 below each first guide rail slider 6 and the second guide rail slider 8 is equal, wherein the extension direction of each guide rail 13 below the second guide rail slider 8 is consistent with the extension direction of the long strip positioning groove corresponding to the V-shaped plate 14 on the second guide rail slider 8; the electric push rod 2 is arranged between two guide rails 13 corresponding to the second guide rail slider 8 fixedly connected to the passive guide rail slider through the slider connecting plate 7;

[0034] There are two types of support blocks, namely support blocks A11 and support blocks B12. There are two support blocks A11 and four support blocks B12. The two support blocks A11 are respectively fixedly connected to the front sides of the two passive guide rail sliders, and the two support blocks B12 are respectively fixedly connected to the two sides of the second guide rail slider 8 connected to the active guide rail slider, and the other two support blocks B12 are fixedly connected between the two guide rails 13 corresponding to the second guide rail sliders 8 hinged to the passive guide rail slider through the slider connecting plate 7, and are located near the edge of the locking mounting base plate 1.

[0035] The locking mounting base plate 1 is rectangular, and the guide rail 13 corresponding to the second guide rail slider 8 connected to the active guide rail slider is fixedly connected to the middle of one short side of the locking mounting base plate 1, and two guide rails 13 corresponding to the second guide rail slider 8 hinged to the passive guide rail slider through the slider connecting plate 7 are fixedly connected to the two sides of the other short side of the locking mounting base plate 1.

[0036] During operation, before the drone lands on the top platform 15, Figure 3As shown in (a), the three-claw automatic clamping mechanism is in the initial state, at which time the second guide rail slider 8 with the V-shaped plate 14 is in the open state; after the UAV lands on the top platform 15, the electric push rod 2 receives the signal and pulls the push rod connector 5, driving the active guide rail slider to move, and the active guide rail slider drives the slider connecting plate 7 to drag the second guide rail slider 8 connected to it to move inward along the guide rail 13; when the active guide rail slider moves, it drives the center chuck 3 to rotate counterclockwise around the rotation axis 4, and the center chuck 3 drives the two passive guide rail sliders to move through the connecting rod 9, and the two passive guide rail sliders drive the two slider connecting plates 7 connected to them to drag the two second guide rail sliders 8 to move inward along the guide rail 13. At this time, the second guide rail sliders 8 connected to the V-shaped plates 14 at the top of the three places are simultaneously retracted and locked inward, cooperating with the barbs at the bottom of the UAV landing gear to achieve the positioning and locking of the landing gear fulcrum, as shown in FIG. Figure 3 (b) shows the shape of the barb at the bottom of the drone landing gear. Figure 4 shown.

[0037] When the drone needs to take off, Figure 3 As shown in (b), in the initial state, the second guide rail slider 8 with the V-shaped plate 14 is in a locked state; when the UAV is launched, the electric push rod 2 pushes the push rod connector 5 after receiving the signal, driving the active guide rail slider to move outward, and the active guide rail slider drives the slider connecting plate 7 to drag the second guide rail slider 8 connected to it to move outward along the guide rail 13; when the active guide rail slider moves, it drives the center chuck 3 to rotate clockwise around the rotation axis 4, and the center chuck 3 drives the two passive guide rail sliders to move through the connecting rod 9, and the two passive guide rail sliders drive the two slider connecting plates 7 connected to them to drag the two second guide rail sliders 8 to move outward along the guide rail 13. At this time, the second guide rail sliders 8 connected to the V-shaped plates 14 at the top of three places are pushed outward at the same time to unlock the landing gear and return to the state as shown in FIG. Figure 3 (a) shows the state. This cycle repeats.

[0038] In addition, the lower part of the locking installation base plate 1 in the device is connected to the output end of a rotary drive device for driving the entire device to rotate.

[0039] Finally, it should be noted that the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features; the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit them. For ordinary professional and technical personnel in this field, the specific technical solutions recorded in the aforementioned embodiments can be modified, or some of the technical features therein can be replaced by equivalents, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions protected by the present invention.

Claims

1. A three-claw automatic clamping mechanism for a drone based on a guide rail slider, comprising a locking mounting base plate (1) and a top platform (15), characterized in that: The top platform (15) is provided with three positioning grooves, each of which is in the shape of a long strip, and the position of each positioning groove corresponds to the position of the hook of the landing gear of the UAV to be clamped; The top platform (15) is fixedly connected to the locking mounting base plate (1) via a support block; The locking mounting base plate (1) is provided with an electric push rod (2) and a rotating shaft (4); The rotating shaft (4) is connected to a central chuck (3), the outer periphery of the central chuck (3) is hinged to one end of three connecting rods (9), and the three connecting rods (9) are evenly distributed on the outer periphery of the central chuck (3); the other ends of the three connecting rods (9) are each hinged to a first guide rail slider (6), one of the first guide rail sliders (6) is simultaneously connected to the output end of the electric push rod (2) and is an active guide rail slider, and the other two are passive guide rail sliders; Two passive guide rail sliders are respectively hinged to one end of a slider connecting plate (7), and the other ends of the two slider connecting plates (7) are hinged to a second guide rail slider (8); an active guide rail slider is fixedly connected to one end of a slider connecting plate (7), and the other end of the slider connecting plate (7) is fixedly connected to a second guide rail slider (8); a V-shaped plate (14) is installed on each second guide rail slider (8) through a support; each support passes through a corresponding positioning groove on the top platform (15); each V-shaped plate (14) is provided with a barb installation opening facing the inner side of the top platform (15); the V-shaped plate (14) on the second guide rail slider (8) hinged to the two passive guide rail sliders through the slider connecting plate (7) is used to clamp two landing gear barbs on the rear side of the unmanned aerial vehicle, and the V-shaped plate (14) on the second guide rail slider (8) fixedly connected to an active guide rail slider through the slider connecting plate (7) is used to clamp a landing gear barb on the front side of the unmanned aerial vehicle; A guide rail (13) is provided below each of the first guide rail slider (6) and the second guide rail slider (8), and the guide rail (13) is mounted on the locking mounting base plate (1), wherein the extension direction of each guide rail (13) corresponding to the bottom of the second guide rail slider (8) is consistent with the extension direction of the long strip positioning groove corresponding to the V-shaped plate (14) on the second guide rail slider (8); The lower part of the locking installation base plate (1) is connected to the output end of a rotary drive device, which is used to drive the entire device to rotate.

2. The three-claw automatic clamping mechanism for a UAV based on a guide rail slider according to claim 1 is characterized in that: The electric push rod (2) is arranged between two guide rails (13) corresponding to the second guide rail sliders (8) hingedly connected to the passive guide rail slider via a slider connecting plate (7); the output end of the electric push rod (2) is connected to the active guide rail slider via a push rod connecting member (5).

3. The three-claw automatic clamping mechanism for a UAV based on a guide rail slider according to claim 2 is characterized in that: The top platform (15) is circular, and the three positioning grooves arranged thereon are all arranged at edge positions close to the top platform (15), and the extending directions are parallel to each other.

4. The three-claw automatic clamping mechanism for a UAV based on a guide rail slider according to claim 3 is characterized in that: The top platform (15) is provided with two axially symmetrical rectangular openings, which are used to reduce the weight of the top platform (15).

5. The three-claw automatic clamping mechanism for a UAV based on a guide rail slider according to claim 4 is characterized in that: The shape and size of each of the first guide rail sliders (6) and the second guide rail sliders (8) are the same, and the shape of the corresponding guide rails (13) below each of the first guide rail sliders (6) and the second guide rail sliders (8) is also the same; the lengths of the guide rails (13) below each of the first guide rail sliders (6) and the second guide rail sliders (8) are equal.

6. A three-claw automatic clamping mechanism for a UAV based on a guide rail slider according to any one of claims 1 to 5, characterized in that: The central chuck (3) is an equilateral triangle chuck, and three connecting rods (9) are respectively hinged on the three corners of the central chuck (3).

7. The three-claw automatic clamping mechanism for a UAV based on a guide rail slider according to claim 6 is characterized in that: There are two types of support blocks, namely support blocks A (11) and support blocks B (12), there are two support blocks A (11) and four support blocks B (12); the two support blocks A (11) are respectively fixedly connected to the front sides of the two passive guide rail sliders, the two support blocks B (12) are respectively fixedly connected to the two sides of the guide rail (13) corresponding to the second guide rail slider (8) connected to the active guide rail slider, and the other two support blocks B (12) are fixedly connected between the guide rails (13) corresponding to the second guide rail sliders (8) hinged to the passive guide rail sliders through the slider connecting plate (7), and are located at a position close to the edge of the locking installation base plate (1).

8. The three-claw automatic clamping mechanism for a drone based on a guide rail slider according to claim 7 is characterized in that: The locking installation base plate (1) is rectangular, and the guide rail (13) corresponding to the second guide rail slider (8) connected to the active guide rail slider is fixedly connected to the middle of a short side of the locking installation base plate (1), and two guide rails (13) corresponding to the second guide rail slider (8) hinged to the passive guide rail slider via a slider connecting plate (7) are fixedly connected to the two sides of the other short side of the locking installation base plate (1).

9. The three-claw automatic clamping mechanism for a drone based on a guide rail slider according to claim 8 is characterized in that: Each of the connecting rods (9) and the central chuck (3) and the first guide rail slider (6), the two passive guide rail sliders and the slider connecting plate (7), and the two slider connecting plates (7) and the second guide rail slider (8) are hinged via a pin shaft (10).

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