A three-claw automatic clamping mechanism of an unmanned aerial vehicle based on a guide rail slider

Abstract

The present application relates to a kind of unmanned aerial vehicle three claw automatic clamping mechanism based on guide rail slider, and its purpose is to solve the problem that unmanned aerial vehicle is normally launched in the launching process due to the existing launching platform cannot accurately position unmanned aerial vehicle launching position and attitude, thereby affecting unmanned aerial vehicle normal launch.The present application is composed of locking installation bottom plate, electric push rod, rotating shaft, center chuck, guide rail, first guide rail slider, second guide rail slider, slider connecting plate, connecting rod, V-shaped plate, support block and top platform.When unmanned aerial vehicle takes off and lands on top platform, electric push rod receives signal, and drives active guide rail slider to move along guide rail, active guide rail slider is connected with center chuck by connecting rod, and drives center chuck to rotate around rotating shaft, thereby driving other two passive guide rail sliders to move, three first guide rail sliders drag second guide rail slider with V-shaped plate to move through slider connecting plate, realize the clamping and release of the device.

Description

Technical Field

[0001] This invention relates to a drone launch and recovery device, specifically to a drone three-jaw automatic clamping mechanism based on a guide rail slider. Background Technology

[0002] The launch of a drone directly impacts its battlefield survivability, reusability, terrain adaptability, and operational flexibility. It is generally considered one of the most difficult and critical steps in drone warfare; a launch malfunction can have severe consequences. Therefore, safe and reliable launch is one of the most important performance indicators for drones. The landing platform used for launching and recovering vertical takeoff and landing (VTOL) drones determines the drone's launch position and attitude before takeoff via its landing gear. The reliability of this positioning directly affects the success of the launch. Therefore, achieving reliable landing gear positioning is a key technology in drone launch and recovery.

[0003] Chinese patent CN202021287282.5 discloses a clamping and positioning mechanism for a drone workstation. It clamps and releases the drone by manually controlling the movement of the clamping plate. However, it can only keep the drone stable during launch. Due to the manual operation, it cannot guarantee the positional accuracy of the drone during takeoff. PCT patent application WO2019 / 127225 discloses a drone positioning device. This device uses a motor to replace manual operation and includes two positioning components that clamp or release the drone from two mutually perpendicular directions to achieve the positioning operation. However, the device has a relatively complex structure and large size, and its ease of use needs to be improved. Summary of the Invention

[0004] The main objective of this invention is to solve the technical problem that existing launch platforms cannot reliably locate the position and attitude of the UAV during the launch process, thus affecting the normal launch of the UAV. The invention provides a three-jaw automatic clamping mechanism for UAVs based on a guide rail slider.

[0005] To achieve the above-mentioned objectives, the present invention provides the following technical solution:

[0006] A three-jaw automatic clamping mechanism for drones based on a guide rail slider includes a locking mounting base plate and a top platform, and its special feature is:

[0007] The top platform is provided with three positioning slots, each of which is elongated and the position of each positioning slot corresponds to the position of the barb of the drone landing gear to be clamped.

[0008] The top platform is fixedly connected to the locking mounting base plate by a support block; an electric push rod and a rotating shaft are mounted 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 end of each of the three connecting rods is hinged to a first guide rail slider, one of which is also connected to the output end of the electric push rod and is the active guide rail slider, while the other two are passive guide rail sliders;

[0009] Two passive guide rail sliders are each hinged to one end of a slider connecting plate, and the other end of the two slider connecting plates is hinged to a second guide rail slider; one 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; each second guide rail slider has a V-shaped plate mounted on it via a support; each support passes through a positioning groove on a corresponding top platform; each V-shaped plate has a barb mounting opening; the V-shaped plate on the second guide rail slider hinged to the two passive guide rail sliders via the slider connecting plate is used to clamp the two landing gear barbs on the rear side of the UAV, and the V-shaped plate on the second guide rail slider fixedly connected to the active guide rail slider via the slider connecting plate is used to clamp the landing gear barb on the front side of the UAV; each first guide rail slider and each second guide rail slider has a guide rail below it, and the guide rail is mounted on a locking mounting base plate, wherein the extension direction of each guide rail corresponding to the lower part of the second guide rail slider is consistent with the extension direction of the elongated positioning groove corresponding to the V-shaped plate mounted on the second guide rail slider;

[0010] The locking mounting base plate is connected to the output end of a rotary drive device to drive the entire device to rotate.

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

[0012] Furthermore, the top platform is circular, and the three positioning slots on it are all located at the edge of the top platform, and their extension directions are parallel to each other.

[0013] Furthermore, the top platform is also equipped with two axially symmetrical rectangular openings to reduce the weight of the top platform.

[0014] Furthermore, each of the first and second guide rail sliders has the same shape and size, and the corresponding guide rail shape below each of the first and second guide rail sliders is also the same; the length of the guide rail below each of the first and second guide rail sliders is equal.

[0015] Furthermore, the central chuck is an equilateral triangular chuck, with three connecting rods hinged at the three corners of the central chuck.

[0016] Furthermore, there are two types of support blocks: support block A and support block B. There are two support blocks A and four support blocks B. The two support blocks A are fixedly connected to the front side of the two passive guide rail sliders, and the two support blocks B are fixedly connected to both sides of the guide rail corresponding to the second guide rail slider connected to the active guide rail slider. The other two support blocks B are fixedly connected between the two guide rails corresponding to the second guide rail sliders that are 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. The two guide rails corresponding to the second guide rail sliders 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 is hinged to 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 via pins.

[0019] Compared with the prior art, the beneficial effects of the present invention are:

[0020] 1. The present invention provides a three-jaw automatic clamping mechanism based on a guide rail slider, which can achieve automatic centering of the UAV during the take-off and landing process by positioning the landing gear. 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 operation of take-off and landing. The self-centering repeatability accuracy of the present invention can reach ±0.5mm, which is at an advanced level in China.

[0021] 2. The present invention provides a three-jaw automatic clamping mechanism based on a guide rail slider. Through the self-drive of the electric push rod and the guidance of the three-point guide rail slider, the circular motion of the central chuck is converted into the three-point linear motion of the guide rail slider. By controlling the direction of the electric push rod, the linear motion of the guide rail slider is controlled, thereby clamping and releasing the drone.

[0022] 3. The innovative technologies and process solutions based on this invention can be applied to other project scenarios as general-purpose technologies, performing clamping, positioning, assembly, and other operations in different scenarios; they are applicable to fields such as machining, assembly, welding, and packaging, and have a wide range of applications. Attached Figure Description

[0023] Figure 1This is a schematic diagram of an embodiment of a three-jaw automatic clamping mechanism based on a guide rail slider according to the present invention;

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

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

[0026] Figure 4 This is a schematic diagram of the landing gear barb structure of an unmanned aerial vehicle (UAV), where (a) is the front view, (b) is the side view, and (c) is the isometric view.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1-Locking mounting base plate, 2-Electric push rod, 3-Center chuck, 4-Rotating shaft, 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 Implementation

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

[0030] This invention provides a three-jaw automatic clamping mechanism for unmanned aerial vehicles 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 by a support block; the top platform 15 is circular, and three elongated positioning grooves are provided near the edge of the top platform 15, and the extension direction of each positioning groove is parallel to each other, and their positions correspond to the positions of the anti-hook of the UAV landing gear to be clamped; the top platform 15 also has two axially symmetrical rectangular openings to reduce the weight of the top platform 15;

[0031] like Figure 2 As shown, it also includes an electric push rod 2 mounted on a locking mounting base plate 1 and a push rod connector 5 connected to the electric push rod 2; the locking mounting base plate 1 is rectangular, and a rotating shaft 4 is also provided on it; a central chuck 3 in the shape of an equilateral triangle is mounted on the rotating shaft 4; each corner of the central 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 connector 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 via pins 10. The other ends of the two slider connecting plates 7 are connected to a second guide rail slider 8 via pins 10. An active guide rail slider is fixedly connected to one end of a slider connecting plate 7. The other end of the slider connecting plate 7 is fixedly connected to a second guide rail slider 8. Each second guide rail slider 8 has a V-shaped plate 14 mounted on a support. Each support passes through a positioning groove on a corresponding top platform 15. Each V-shaped plate 14 has a barb mounting port facing the inside of the top platform. The V-shaped plate 14 on the second guide rail slider 8, which is hinged to the two passive guide rail sliders via the slider connecting plate 7, is used to clamp the two landing gear barbs on the rear side of the UAV. The V-shaped plate 14 on the second guide rail slider 8, which is fixedly connected to the active guide rail slider via the slider connecting plate 7, is used to clamp the landing gear barb on the front side of the UAV.

[0033] Each first guide rail slider 6 and second guide rail slider 8 is of the same shape and size, and each is provided with a guide rail 13 below it. The guide rail 13 is mounted on the locking mounting base plate 1, and each guide rail 13 is also of the same shape. The length of the guide rail 13 below each first guide rail slider 6 and 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 the two guide rails 13 corresponding to the second guide rail slider 8 that are fixedly connected to the passive guide rail slider through the slider connecting plate 7.

[0034] There are two types of support blocks: support block A11 and support block B12. There are two support blocks A11 and four support blocks B12. The two support blocks A11 are fixedly connected to the front side of the two passive guide rail sliders, and the two support blocks B12 are fixedly connected to both sides of the second guide rail slider 8 connected to the active guide rail slider. The other two support blocks B12 are fixedly connected between the two guide rails 13 corresponding to the second guide rail slider 8 which is 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. 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. The 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 both sides of the other short side of the locking mounting base plate 1.

[0036] During the operation, before the drone lands on the top platform 15, such as Figure 3As shown in (a), the three-jaw automatic clamping mechanism is in its 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 a signal and pulls the push rod connector 5, causing the active guide rail slider to move. The active guide rail slider causes the slider connecting plate 7 to drag the connected second guide rail slider 8 inward along the guide rail 13. When the active guide rail slider moves, it causes the central chuck 3 to rotate counterclockwise around the rotation axis 4. The central chuck 3 drives the two passive guide rail sliders to move through the connecting rod 9. The two passive guide rail sliders drive the two connected slider connecting plates 7 to drag the two second guide rail sliders 8 inward along the guide rail 13. At this time, the three second guide rail sliders 8 connected to the top V-shaped plate 14 simultaneously retract inward and lock, cooperating with the barbs at the bottom of the UAV landing gear to achieve the positioning and locking of the landing gear pivot point, as shown. Figure 3 As shown in (b). The barb shape at the bottom of the drone landing gear is as follows: Figure 4 As shown.

[0037] When a drone needs to take off, such as 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 receives a signal and pushes the push rod connector 5, causing the active guide rail slider to move outward. The active guide rail slider causes the slider connecting plate 7 to drag the connected second guide rail slider 8 outward along the guide rail 13. When the active guide rail slider moves, it causes the central chuck 3 to rotate clockwise around the rotation axis 4. The central chuck 3 drives the two passive guide rail sliders to move through the connecting rod 9. The two passive guide rail sliders drive the two connected slider connecting plates 7 to drag the two second guide rail sliders 8 outward along the guide rail 13. At this time, the three second guide rail sliders 8 connected to the top V-shaped plate 14 are pushed outward simultaneously, realizing the unlocking of the landing gear and returning to the starting position. Figure 3 The state shown in (a) is repeated continuously.

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

[0039] Finally, it should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. For those skilled in the art, modifications can be made to the specific technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions 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-jaw automatic clamping mechanism for unmanned aerial vehicles 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 slots, each of which is long and narrow, and the position of each positioning slot corresponds to the position of the hook of the UAV landing gear to be clamped. The top platform (15) is fixedly connected to the locking mounting base plate (1) by a support block; An electric push rod (2) and a rotating shaft (4) are installed on the locking mounting base plate (1); A central chuck (3) is connected to the rotating shaft (4). 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 end of each of the three connecting rods (9) is hinged to a first guide rail slider (6). One of the first guide rail sliders (6) is also connected to the output end of the electric push rod (2) and is an active guide rail slider. 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 end of the two slider connecting plates (7) is 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 mounted on each second guide rail slider (8) via a support; each support passes through a positioning groove on a corresponding top platform (15); each V-shaped plate (14) is provided with a barb mounting port facing the inside 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 via the slider connecting plate (7) is used to clamp the two landing gear barbs on the rear side of the UAV, and the V-shaped plate (14) on the second guide rail slider (8) fixedly connected to the active guide rail slider via the slider connecting plate (7) is used to clamp the landing gear barb on the front side of the UAV; Each first guide rail slider (6) and second guide rail slider (8) is provided with a guide rail (13) below it. The guide rail (13) is mounted on the locking mounting base plate (1). The extension direction of each guide rail (13) corresponding to 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 locking mounting base plate (1) is connected to the output end of a rotary drive device to drive the entire device to rotate.

2. The three-claw automatic clamping mechanism of the rail slider based unmanned aerial vehicle according to claim 1, characterized in that: The electric push rod (2) is positioned between two guide rails (13) corresponding to the second guide rail sliders (8) which are hinged to the passive guide rail sliders via the 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 connector (5).

3. The three-claw automatic clamping mechanism of the guide rail slider based unmanned aerial vehicle according to claim 2, characterized in that: The top platform (15) is circular, and the three positioning slots on it are all located near the edge of the top platform (15) and extend in parallel directions.

4. The three-claw automatic clamping mechanism of the guide rail slider based unmanned aerial vehicle according to claim 3, characterized in that: The top platform (15) is provided with two axially symmetrical rectangular openings to reduce the weight of the top platform (15).

5. The UAV three-jaw automatic clamping mechanism based on a guide rail slider according to claim 4, characterized in that: Each of the first guide rail sliders (6) and the second guide rail sliders (8) has the same shape and size, and the guide rails (13) below each of the first guide rail sliders (6) and the second guide rail sliders (8) also have the same shape; 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-jaw automatic clamping mechanism for UAVs based on a guide rail slider according to any one of claims 1-5, characterized in that: The central chuck (3) is an equilateral triangular chuck, and the three connecting rods (9) are respectively hinged to the three corners of the central chuck (3).

7. The UAV three-jaw automatic clamping mechanism based on a guide rail slider according to claim 6, characterized in that: There are two types of support blocks, namely support block A (11) and support block B (12). There are two support blocks A (11) and four support blocks B (12). The two support blocks A (11) are fixedly connected to the front side of the two passive guide rail sliders respectively. The two support blocks B (12) are 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 respectively. The other two support blocks B (12) are fixedly connected between the 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), and are located near the edge of the locking mounting base plate (1).

8. The UAV three-jaw automatic clamping mechanism based on a guide rail slider according to claim 7, characterized in that: The locking mounting base plate (1) is rectangular. 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). The 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).

9. The UAV three-jaw automatic clamping mechanism based on a guide rail slider according to claim 8, characterized in that: Each of the connecting rods (9) is hinged to 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) by a pin (10).

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