Self-leveling air-ground docking platform based on 3-RRS structure

Abstract

The invention belongs to the technical field of unmanned aerial vehicle take-off and landing platforms, and particularly relates to a self-leveling air-ground docking platform based on a 3-RRS structure, the self-leveling air-ground docking platform comprises a static platform, a movable platform, a first driving mechanism, a connecting mechanism and a centering mechanism, the movable platform is arranged above the static platform, and the movable platform is used for parking of an unmanned aerial vehicle; the three first driving mechanisms are fixed to the static platform in a central symmetry mode. The three connecting mechanisms are respectively connected between the driving end of each first driving mechanism and the bottom of the movable platform, and the connecting mechanisms are used for adjusting the inclination angle direction and the inclination angle value of the movable platform under the driving of the first driving mechanisms; the centering mechanism is movably arranged on the movable platform and used for centering the unmanned aerial vehicle parked on the movable platform. The unmanned aerial vehicle has the remarkable effects of higher environmental adaptability and flexibility, effectively reduces the control difficulty when the unmanned aerial vehicle autonomously takes off and lands on the mobile platform, and facilitates the storage and storage management of the unmanned aerial vehicle.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle take-off and landing platforms, and in particular relates to a self-leveling air-to-ground docking platform based on a 3-RRS structure. Background Art

[0002] In civil and military fields such as resource exploration and complex environment exploration, drones are becoming increasingly important operational tools with their wide high-altitude vision and powerful maneuverability. However, when drones perform tasks alone, they have inherent disadvantages such as limited battery life and insufficient operation time, which cannot meet the needs of long-term and long-distance operations. For this reason, some researchers have proposed a new concept of air-ground collaborative operations, among which the multifunctional vehicle-mounted docking platform for rotary-wing drones has always been a research hotspot in the field of drone applications. The platform can work in collaboration with drones to achieve autonomous air-ground docking and take-off and landing of unmanned vehicles in a stationary or moving state, and can provide drones with safe and reliable storage and parking mechanisms, as well as a stable energy supply.

[0003] For example, a Chinese patent discloses a vehicle-mounted take-off and landing fixed platform for a rotary-wing UAV, which is composed of a UAV fixing part, a clamp rod motion device, a fixed beam, and a driving mechanism, and the peripheral devices are a UAV and a car; the UAV fixing part is provided with a circumferential groove engaged with the clamp rod, the fixed beam is fixed to the top of the car, the clamp rod motion device is installed on the fixed beam, and the clamp rod motion device moves under the drive of the driving mechanism to achieve engagement and separation with the circumferential groove of the UAV fixing part, thereby achieving the fixation and separation of the UAV and the vehicle-mounted take-off and landing fixed platform, so as to quickly remove water accumulated on the vehicle-mounted platform and eliminate the influence of backflow air on the landing of the UAV.

[0004] However, the patent has the following defects:

[0005] 1. Due to the use of a fixed vehicle-mounted take-off and landing platform, the plane position for the drone to take off and land is fixed, and its plane posture will change with the posture of the fixed platform itself. Once the unmanned vehicle is driving and under complex road conditions in the wild, the body posture will produce severe bumps and changes, which will cause the plane posture for the drone to take off and land to be unstable, which will undoubtedly increase the control difficulty of the drone's take-off and landing and the accuracy of landing, which is not conducive to the subsequent storage of the drone and the completion of corresponding charging and other tasks.

[0006] 2. Since the vehicle-mounted take-off and landing fixed platform lacks a lifting device, the UAV is too close to the vehicle during the landing process. The air flow fluctuations generated during the landing of the UAV due to the close distance will cause the UAV's posture to be unstable during the landing process, which greatly reduces the accuracy and success rate of the UAV's autonomous take-off and landing, which is not conducive to operations on mobile platforms or in complex outdoor environments.

[0007] 3. Adaptable drone fixtures are not designed for different drones, so the adaptability and reusability of the solution are relatively poor. Different fixtures need to be designed for drones with different frame types, which increases the hardware cost and the complexity of disassembly and assembly. In addition, during the movement of unmanned vehicles or cars, due to the lack of a suitable leveling mechanism, the drones carried by them will still have problems such as position offset. For the subsequent need to add a non-contact wireless charging energy supply module on the corresponding platform, the corresponding charging efficiency will be greatly reduced, which is not conducive to the efficient operation of drones and air-ground collaboration, and reduces the efficiency of operation and energy replenishment.

[0008] In summary, since traditional air-to-ground docking platforms are mostly fixed platforms, they cannot adjust their posture autonomously, which makes it difficult to perform air-to-ground docking when the unmanned vehicle is in motion, and their adaptability and reusability are relatively poor. At the same time, the parking and charging efficiency of the drone is low. Summary of the invention

[0009] The purpose of the present invention is to provide a self-leveling air-to-ground docking platform based on a 3-RRS structure. In view of the problems of greater landing difficulty and low positioning accuracy during the autonomous take-off and landing of UAVs on a moving platform, the self-leveling function can compensate for the posture changes caused by ground bumps in real time, ensure that the absolute position of the platform relative to the ground always remains stable, reduce the control difficulty of the autonomous landing of the UAV, and improve the safety of the UAV when stored in a hangar, ensuring that the UAV can complete the take-off and landing tasks safely and efficiently in various complex environments.

[0010] The self-leveling air-to-ground docking platform based on the 3-RRS structure is characterized by comprising:

[0011] A quiet platform;

[0012] A moving platform for parking the UAV, arranged above the static platform;

[0013] Three first driving mechanisms are fixed on the static platform in a centrally symmetrical manner;

[0014] Three connecting mechanisms, the three connecting mechanisms are respectively connected between the driving end of each first driving mechanism and the bottom of the moving platform, and are used to adjust the inclination direction and inclination value of the moving platform under the drive of the first driving mechanism;

[0015] The centering mechanism is movably arranged on the moving platform and is used for centering the UAV parked on the moving platform.

[0016] Based on the above design, it can be known that the air-to-ground docking platform described in the present invention mainly includes a static platform, a dynamic platform, a first driving mechanism, a connecting mechanism and a centering mechanism, wherein the static platform realizes the connecting component when the air-to-ground docking platform is integrated with the hangar, and is used to provide a stable installation space for the first driving mechanism and other hardware modules, and multiple installation holes and connecting spaces are reserved on it to facilitate access to the overall hangar. The dynamic platform, as the core part of the air-to-ground docking platform, is responsible for the parking and docking tasks of the UAV during the air-to-ground docking process. By controlling the first driving mechanism to drive the connecting mechanism to move, the inclination direction and inclination angle of the dynamic platform can be adjusted to ensure that the dynamic platform always maintains a stable posture and avoids affecting the docking accuracy due to the movement of the vehicle-mounted platform. This not only enables the moving platform to have a self-leveling function, which can also compensate for the attitude changes caused by ground bumps in real time, ensuring that the absolute position of the moving platform relative to the ground always remains stable, but also significantly reduces the control difficulty of autonomous landing of the UAV. At the same time, the UAV parked on the moving platform is centered and then its position is limited by the centering mechanism, which improves the safety of the UAV when stored in the hangar, ensuring that the UAV can complete the take-off and landing tasks safely and efficiently in various complex environments, thereby effectively solving the problems of greater landing difficulty and low positioning accuracy in the process of autonomous take-off and landing of UAVs on moving platforms in the prior art, and also overcomes the problem of unstable platform attitude of traditional fixed docking platforms due to the bumps of the unmanned vehicle under complex road conditions.

[0017] Furthermore, the first driving mechanism includes a motor mounting bracket and a first driving motor, the motor mounting bracket is fixed on the static platform, and the first driving motor is fixed on the motor mounting bracket.

[0018] The motor mounting bracket adopts an equilateral triangle geometric layout, with the three fixed points of the equilateral triangle as its own geometric center, and is evenly and symmetrically distributed on the static platform. This design simplifies the establishment of motion control and kinematic models, reduces the difficulty of self-leveling control, and improves the control accuracy and stability of the platform. The motor mounting bracket adopts a right-angle frame structure and is equipped with triangular ribs to enhance the overall stability. It is tightly connected to the first drive motor through countersunk bolts to ensure the stability of the installation of the first drive motor. The first drive motor is used to provide precise power according to the self-leveling control algorithm of the platform, and the drive connection mechanism drives the moving platform to adjust the inclination direction and inclination value, thereby controlling the final posture of the moving platform and ensuring accurate self-leveling of the platform. In the specific implementation process, the first drive motor has a self-locking function to meet the needs of fast and stable motion control of the moving platform.

[0019] Furthermore, the connecting mechanism includes an active rod, a driven rod, a fisheye bearing, a connecting support and a plug bolt, one end of the active rod is connected to the driving end of the first driving mechanism, the other end of the active rod is hinged to one end of the driven rod, the other end of the driven rod is connected to the fisheye bearing, the fisheye bearing is rotatably connected to the connecting support through the plug bolt, and the connecting support is fixed to the lower surface of the moving platform;

[0020] A limiting member is formed at the lower end of the driven rod, and the limiting member can limit the relative position between the active rod and the driven rod.

[0021] Based on the above structure, it can be known that the active rod adopts an integrated structural design of coupling and rod, and its lower end is connected to the first drive motor coupling by bolts to ensure efficient and stable power transmission. This design ensures the transmission efficiency of the platform movement and improves the stability of the structure. The driven rod adopts a slender cylindrical configuration, with threads tapped on the upper and lower ends for connection. The upper end is tightly connected to the fisheye bearing by threads, and the lower end is tightly connected to the active rod by threads. The power is effectively transmitted according to the motion constraint conditions to ensure that the moving platform achieves a predetermined motion posture. The fisheye bearing, as a local spherical pair, replaces the traditional spherical pair and can effectively transmit power. At the same time, through its local degree of freedom, it can limit the range of motion of the moving platform while meeting the needs of motion control. The connecting support adopts an equilateral triangle geometric layout, with the three fixed points of the equilateral triangle as its own geometric center, and is evenly and symmetrically distributed and installed on the corresponding levelable moving platform. The connecting support adopts an inverted U-shaped symmetrical structure design to realize the connection between the moving platform and the spherical pair structure fisheye bearing, ensuring the efficient docking and movement of the moving platform and other components. In the spherical kinematic pair design of the platform, the connecting support, fisheye bearing and plug bolt work together. The inverted U-shaped connecting support transmits the driving force through the cooperation of the plug bolt and the fisheye bearing. According to a certain motion control relationship, the corresponding moving platform is driven to change its posture, thereby realizing the self-leveling of the final platform.

[0022] Therefore, the self-leveling control process of the air-to-ground docking platform described in the present invention is as follows: after receiving the motor rotation angle calculated according to the corresponding motion control instruction, the first drive motor drives the corresponding active rod to produce a follow-up motion according to the motion constraint conditions and power transmission defined by the limiter, and finally transmits the motion power to the object moving platform of the motion control through the local spherical pair composed of fisheye bearings, connecting supports, and plug bolts, so as to control the absolute position of the moving platform and ensure the precise self-leveling of the platform. In addition, the lower end of the driven rod adopts an inverted trapezoidal limiter as a limit design, which limits the rotation angle of the central rotating pair formed by the active rod and the driven rod, and can avoid the instability of the overall mechanism after the first drive motor loses its self-locking ability, effectively improving the robustness of the platform and the stability of the corresponding structure.

[0023] It can be seen that the platform of the present invention has three degrees of freedom through the above-mentioned connection mechanism, among which the Z-axis freedom can realize the lifting function. Compared with the fixed lifting method using screw drive in the traditional hangar, the lifting method of this solution is more flexible; at the same time, the platform's rotational freedom around the X-axis and Y-axis enables it to have a self-leveling function, which enhances the flexibility of control. The platform of the present invention adopts an inward-moving kinematic chain layout, which can maximize the use of platform space and improve space utilization, which is conducive to the later embedding of the platform into the vehicle-mounted airport system.

[0024] Furthermore, the active rod and the driven rod are connected by a connecting bolt, and the connecting bolt includes a connecting screw, a first spring washer, a second spring washer and a connecting nut. The connecting screw is inserted into the active rod and the driven rod, the first spring washer is arranged between the limiting portion of the connecting screw and the active rod, the second spring washer is arranged between the active rod and the driven rod, and the connecting nut is in contact with the driven rod and is threadedly connected to the connecting screw.

[0025] Based on the above design, it can be seen that the active rod and the driven rod are fixedly connected as a whole by connecting screws and connecting nuts, and the first spring washer and the second spring washer for adjusting the installation position are added at the installation position. At the same time, the second spring washer in the center also absorbs impact and reduces the impact on the cyclic load of the connection. This can improve the durability and service life of the connection mechanism and the entire platform.

[0026] Furthermore, the centering mechanism includes a first centering component and a second centering component, the centering directions of the first centering component and the second centering component are perpendicular to each other, and the first centering component and the second centering component are used to drive the UAV to move toward the center of the moving platform.

[0027] The present invention adopts a symmetrical layout to set the first centering component and the second centering component. The parts design and transmission mode of the first centering component and the second centering component are the same. The first centering component and the second centering component are set on the moving platform. The first centering component and the second centering component are both connected to the side wall of the moving platform, which optimizes the layout of the centering mechanism, further reduces the volume of the air-to-ground docking platform, optimizes the spatial layout, and facilitates subsequent embedding in the hangar. When the drone is docked, the position of the drone is accurately adjusted through the drive of the first centering component and the second centering component, so that the drone can be accurately centered after being parked on the moving platform.

[0028] Furthermore, the first centering component includes a second driving motor, a first active pulley, a first driven pulley, a first synchronous belt, a first connecting piece, a first centering push rod, a second connecting piece and a second centering push rod. The second driving motor is fixed to the bottom of the moving platform. The two first active pulleys and the two first driven pulleys are respectively matched and fixed on two opposite sides of the moving platform. The first active pulley is connected to the output shaft of the second driving motor in a transmission manner. The first active pulley and the first driven pulley are connected in a transmission manner through the first synchronous belt. The first connecting piece is fixed to the lower side of the first synchronous belt. The first centering push rod is connected across the first connecting pieces on both sides. The second connecting piece is fixed to the upper side of the first synchronous belt. The second centering push rod is connected across the second connecting pieces on both sides. The first centering push rod and the second centering push rod are used to drive the drone to move toward the center of the moving platform.

[0029] The output shaft of the second driving motor is connected to the first driving pulley through the embedded bearing of the first driving pulley, and the first synchronous belt connects the first driving pulley and the first driven pulley to realize power transmission. In order to convert the rotational power of the stepper motor into the opposite horizontal movement power of the push rod module, the opposite upward and downward movement directions of the synchronous belt are fully utilized, and the first connecting member and the second connecting member are respectively fixedly connected to the upper belt and the lower belt of the first synchronous belt, so that the first connecting member and the second connecting member synchronously move in opposite directions towards or away from each other under the drive of the first synchronous belt, thereby driving the first centering push rod and the second centering push rod to push the drone to move toward the center of the moving platform, so that the drone can be accurately centered after being parked on the moving platform.

[0030] Furthermore, the second centering component includes a third driving motor, a second active pulley, a second driven pulley, a second synchronous belt, a third connecting piece, a third centering push rod, a fourth connecting piece, and a fourth centering push rod. The third driving motor is fixed to the bottom of the moving platform, and the two second active pulleys and the two second driven pulleys are respectively matched and fixed on two opposite sides of the moving platform. The second active pulley is connected to the output shaft of the third driving motor by transmission, and the second active pulley and the second driven pulley are connected by transmission through the second synchronous belt. The third connecting piece is fixed to the lower side of the second synchronous belt, and the third centering push rod is connected between the third connecting pieces on both sides. The fourth connecting piece is fixed to the upper side of the second synchronous belt, and the fourth centering push rod is connected between the fourth connecting pieces on both sides. The third centering push rod and the fourth centering push rod are used to drive the UAV to move toward the center of the moving platform.

[0031] The second centering assembly in the present invention uses similar parts design as the first centering assembly, and only the sizes of some parts are different. The output shaft of the third drive motor is connected to the second driving pulley through the embedded bearing of the second driving pulley, and the second synchronous belt connects the second driving pulley to the second driven pulley to realize power transmission. In order to convert the rotational power of the stepper motor into the opposite horizontal movement power of the push rod module, the opposite characteristics of the synchronous belt in the up and down movement directions are fully utilized. The third connecting member and the fourth connecting member are driven by the second synchronous belt to move toward or away from each other synchronously, thereby driving the third centering push rod and the fourth centering push rod to push the center of the unmanned aerial vehicle dynamic platform to move, thereby cooperating with the first centering assembly to realize moving the unmanned aerial vehicle landed on the platform to the geometric center of the platform, realizing precise adjustment of the position of the unmanned aerial vehicle, so that the unmanned aerial vehicle can be accurately centered after being parked on the dynamic platform, and finally fixed in position through the motor self-locking function.

[0032] Further, the third connecting member includes a first clamping block, a first connecting block, a first connecting bracket, and a first leveling pad. The first clamping block is fixedly connected to the lower end of the first connecting block located above it by screws, the second synchronous belt is clamped and fixed between the first clamping block and the first connecting block, the first connecting bracket is fixedly arranged on the upper part of the first connecting block, and the top of the first connecting bracket is connected to the third connecting member through the first leveling pad.

[0033] The fourth connecting member includes a second clamping block, a second connecting block, a second connecting bracket, and a second leveling pad. The second clamping block is fixedly connected to the lower end of the second connecting block located above it by screws. The second synchronous belt is clamped and fixed between the second clamping block and the second connecting block. The second connecting bracket is fixedly arranged on the upper part of the second connecting block. The top of the second connecting bracket is connected to the fourth connecting member through the second leveling pad.

[0034] Based on the above structure, it can be known that the connection between the third connecting member and the second synchronous belt is achieved through the cooperation of the first clamping block and the first connecting block, and the connection between the fourth connecting member and the second synchronous belt is achieved through the cooperation of the second clamping block and the second connecting block, so that the third connecting member and the fourth connecting member can move in opposite directions by being driven by the second synchronous belt. The third centering push rod is connected by the first connecting bracket, the first leveling pad and the first connecting block, and the fourth centering push rod is connected by the second connecting bracket, the second leveling pad and the second connecting block. The height of the third centering push rod and the fourth centering push rod can be adjusted to ensure that the third centering push rod and the fourth centering push rod are located in the same plane, thereby ensuring the efficiency of the centering function and the reliability of the device.

[0035] Furthermore, the structures of the third pair of push rods and the fourth pair of push rods are consistent, wherein the third pair of push rods include a first sub-push rod, a first connecting block, a third sub-push rod, a fourth sub-push rod, and a fifth sub-push rod, one end of the first sub-push rod is connected to the third connecting piece on one side, a through groove is provided at the other end of the first sub-push rod, a hinge bolt is provided in the through groove, one end of the second sub-push rod is rotatably connected to the hinge bolt, the other end of the second sub-push rod is hinged to one end of the third sub-push rod, the other end of the third sub-push rod is hinged to one end of the fourth sub-push rod, one end of the fifth sub-push rod is fixedly connected to the third connecting piece on the other side, a through groove is also provided at the other end of the fifth sub-push rod, and the other end of the fourth sub-push rod is rotatably connected to the hinge bolt located in the through groove.

[0036] In order to ensure the centering effect of different types of drones, the present invention adopts the deformable third centering push rod and the fourth centering push rod of the above-mentioned five-rod structure. The third centering push rod and the fourth centering push rod adopt a symmetrical structure, which is formed by the first sub-push rod, the first connecting block, the third sub-push rod, the fourth sub-push rod, and the fifth sub-push rod being movably connected. The first sub-push rod and the fifth sub-push rod are provided with U-shaped slots, and the slots are connected by the second sub-push rod and the fourth sub-push rod vertically arranged by the hinge bolts, so that the third centering push rod has the freedom of horizontal movement and rotation; and the central third sub-push rod is hinged with the second sub-push rod and the fourth sub-push rod by bolts, so that it has the freedom of rotation. Through the structural design of the above-mentioned third centering push rod and the fourth centering push rod, it can adapt to drone racks of different shapes and sizes, thereby not only improving the adaptability of the platform centering device, but also further enhancing the efficiency of centering of multiple types of drones.

[0037] Furthermore, the first centering assembly further comprises a first slide rail, which is fixed to the side surface of the moving platform and arranged along the length direction of the side surface of the moving platform, and the first connecting member and the second connecting member are both slidably arranged on the first slide rail;

[0038] The second centering component also includes a second slide rail, which is fixed to the side of the moving platform and arranged along the length direction of the side of the moving platform. The setting direction of the second slide rail is perpendicular to the setting direction of the first slide rail, and the third connecting member and the fourth connecting member are both slidably set on the second slide rail.

[0039] Based on the above-mentioned first slide rail and second slide rail, the rear sides of the first connecting member and the second connecting member and the rear of the third connecting member and the fourth connecting member are provided with sliders to slide with them respectively, so as to limit the movement speed of the sliders and enhance the stability of the first centering push rod, the second centering push rod, the third centering push rod and the fourth centering push rod during the centering process, thereby ensuring the stability of the UAV during the centering process and preventing the UAV from falling or being damaged due to centering.

[0040] Compared with the prior art, the present invention has the following beneficial effects:

[0041] 1. In view of the phenomenon that the traditional fixed take-off and landing platform is often bumpy due to complex road conditions when installed on a mobile unmanned vehicle or platform, thus affecting the stability of the platform, the platform of the present invention adopts a levelable dynamic plane in the overall design. Compared with the traditional fixed take-off and landing platform, it has stronger environmental adaptability and flexibility. At the same time, through the self-leveling function, it effectively reduces the control difficulty of the drone during autonomous take-off and landing on the mobile platform, and facilitates the storage and management of the drone.

[0042] 2. The platform described in the present invention has three degrees of freedom, among which the Z-axis degree of freedom can realize the lifting function. Compared with the fixed lifting method using screw drive in the traditional hangar, the lifting method of this solution is more flexible; at the same time, the platform's rotational freedom around the X-axis and Y-axis enables it to have a self-leveling function, which enhances the flexibility of control.

[0043] 3. In terms of platform layout, the connection structure of the three motion chains and the upper and lower moving platforms and the static platform adopts an equilateral triangle symmetrical layout. This layout simplifies the kinematic model of the platform and facilitates subsequent self-leveling control. From the perspective of system dynamics, it optimizes the force of each rotating auxiliary motor, so that the platform can withstand higher loads and facilitates the subsequent module assembly and upgrade.

[0044] 4. The platform described in the present invention is designed with a limiter and a connecting bolt with a mechanical limit function at the connection between the active rod and the driven rod, so as to limit the angle of the rotating pair formed by the active rod and the driven rod, thereby preventing the platform from moving beyond a safe range in extreme cases, ensuring the stability of the platform, and preventing the motor from losing its self-locking ability and causing uncontrolled movement.

[0045] 5. The platform of the present invention adopts an inward-moving kinematic chain layout, which can maximize the use of platform space, improve space utilization, and facilitate the later embedding of the platform into the vehicle-mounted airport system.

[0046] 6. The moving platform of the present invention adopts a thickened double-layer plate design, and the overall transmission mechanism is arranged on the side of the moving platform, which optimizes the spatial layout; at the same time, the motor layout of the diagonal centering mechanism is combined with the motion characteristics of the synchronous belt and the motion sequence of the centering push rod, so that only two motors are used to drive four push rods, which significantly reduces the total weight of the platform and expands the load space above the platform.

[0047] 7. The present invention also proposes an adjustable centering push rod module with flexible function, namely, a third centering push rod and a fourth centering push rod. The third centering push rod and the fourth centering push rod can change their shapes by adjusting the relative position relationship of the sub-push rods, so as to adapt to drone frames of different shapes and sizes, further enhancing the adaptability and centering efficiency of the centering mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a structural schematic diagram of the present invention;

[0049] Figure 2 It is a structural schematic diagram of the connecting mechanism of the present invention after being unfolded;

[0050] Figure 3 for Figure 2 A is a partial enlarged schematic diagram;

[0051] Figure 4 It is a left side view of the present invention;

[0052] Figure 5 for Figure 4 A partial enlarged schematic diagram of B in the middle;

[0053] Figure 6 for Figure 4 A partial enlarged schematic diagram of C in the middle;

[0054] Figure 7 It is a top view of the present invention.

[0055] The names of the components in the figure are: 1. static platform; 2. dynamic platform; 3. first driving mechanism; 301. motor mounting bracket; 302. first driving motor; 4. connecting mechanism; 401. active rod; 402. limiter; 403. driven rod; 404. fisheye bearing; 405. connecting support; 406. plug bolt; 407. connecting bolt; 40701. connecting screw; 40702. first spring washer; 40703. second spring washer; 40704, connecting nut; 5, first centering assembly; 501, second drive motor; 502, first driving pulley; 503, first driven pulley; 504, first synchronous belt; 505, first connecting piece; 506, first centering push rod; 507, second connecting piece; 508, second centering push rod; 509, first slide rail; 6, second centering assembly; 601, third drive motor; 602, second driving belt wheel; 603, second driven pulley; 604, second synchronous belt; 605, third connecting member; 60501, first clamping block; 60502, first connecting block; 60503, first slider; 60504, first connecting bracket; 60505, first leveling pad; 606, third centering push rod; 60601, first sub-push rod; 60602, second sub-push rod; 60603, third sub-push rod; 60604, fourth sub-push rod Push rod; 60605, fifth sub-push rod; 60606, through groove; 60607, hinge bolt; 607, fourth connecting piece; 60701, second clamping block; 60702, second connecting block; 60703, second sliding block; 60704, second connecting bracket; 60705, second leveling pad; 608, fourth centering push rod; 609, synchronous belt limiter; 6010, second slide rail; 7, center hole; 8, limit step. DETAILED DESCRIPTION

[0056] The present invention is further described below through specific embodiments in conjunction with the accompanying drawings, but the present invention is not limited thereto. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

[0057] The RRS configuration refers to a group of motion mechanisms, including two moving rods, a fixed static platform and a moving platform, and the rods and the platforms are connected by two revolute pairs and a spherical pair close to the moving platform. The overall moving platform is connected in parallel, and three groups of motion mechanisms are connected to the upper and lower moving platforms and the static platform according to the three vertices of an equilateral triangle and the corresponding geometric relationship. The rotation angle of one of the revolute pairs is connected to the motor through a coupling to transmit the motor power and control the rotation angles of the corresponding three revolute pairs close to the static platform to achieve precise control and positioning of the kinematics and position of the overall moving platform. Therefore, the present invention designs a self-leveling air-to-ground docking platform based on the 3-RRS configuration in response to the phenomenon that the traditional fixed take-off and landing platform is often bumpy due to complex road conditions when installed on a mobile unmanned vehicle or platform, thereby affecting the stability of the platform.

[0058] like Figure 1-Figure 7 As shown, the self-leveling air-to-ground docking platform based on the 3-RRS structure described in the embodiment of the present invention includes the following structure: a static platform 1, a dynamic platform 2, a first driving mechanism 3, a connecting mechanism 4 and a centering mechanism, wherein the static platform 1 is used to realize the integrated assembly of the air-to-ground docking platform and the hangar, and the dynamic platform 2 is arranged above the static platform 1, and is used for parking the UAV on the dynamic platform 2; three first driving mechanisms 3 are fixed on the static platform 1 in a centrally symmetrical manner; three connecting mechanisms 4 are respectively connected between the driving end of each first driving mechanism 3 and the bottom of the dynamic platform 2, and the connecting mechanism 4 is used to adjust the inclination direction and inclination value of the dynamic platform 2 under the drive of the first driving mechanism 3; the centering mechanism is movably arranged on the dynamic platform 2, and is used to center the UAV parked on the dynamic platform 2.

[0059] Based on the above design, it can be known that the air-to-ground docking platform described in the present invention aims at the phenomenon that the traditional fixed take-off and landing platform, when installed on a mobile unmanned vehicle or platform, often causes bumps due to complex road conditions, thereby affecting the stability of the platform. In terms of the overall design, an adjustable dynamic plane is adopted, and its structure mainly includes a static platform 1, a dynamic platform 2, a first drive mechanism 3, a connecting mechanism 4 and a centering mechanism, wherein the static platform 1 realizes the connection component when the air-to-ground docking platform is integrated with the hangar, and is used to provide a stable installation space for the first drive mechanism 3 and other hardware modules, and a plurality of mounting holes and connecting spaces are reserved thereon to facilitate the access to the overall hangar. In addition, the static platform 1 also serves as a reference plane for the self-leveling control of the dynamic platform. By installing a gyroscope, the position changes of the platform are read in real time to ensure that the posture of the dynamic platform is always stable. The moving platform 2, as the core part of the air-ground docking platform, is responsible for the parking and docking tasks of the UAV during the air-ground docking process. By controlling the first driving mechanism 3 to drive the connecting mechanism 4 to move, the tilt direction and tilt angle of the moving platform 2 are adjusted to ensure that the moving platform 2 always maintains a stable posture and avoids affecting the docking accuracy due to the movement of the vehicle-mounted platform. Therefore, the moving platform 2 not only has a self-leveling function, but can also compensate for the posture changes caused by the ground bumps in real time, ensuring that the absolute posture of the moving platform 2 relative to the ground is always stable, not only significantly reducing the control difficulty of the autonomous landing of the UAV, but also through the centering mechanism to center the UAV parked on the moving platform 2 and then limit the position, improving the safety of the UAV when stored in the hangar, ensuring that the UAV can complete the take-off and landing tasks safely and efficiently in various complex environments, thereby effectively solving the problems of the existing technology that the landing difficulty and positioning accuracy of the UAV in the autonomous take-off and landing process of the moving platform are large, and also overcoming the problem that the traditional fixed docking platform is unstable due to the bumps of the unmanned vehicle under complex road conditions.

[0060] In this example, multiple installation spaces and take-off and landing platform spaces are reserved above the moving platform 2 to facilitate future functional expansion. At the same time, a center hole 7 is opened in the center of the moving platform 2. At the same time, the moving platform 2 adopts a double-layer panel design, thereby forming a limited step 8 through the double-layer empty groove at the center hole 7, thereby reserving space for the subsequent installation of a wireless charging device.

[0061] like Figure 1 As shown, the first driving mechanism 3 includes a motor mounting bracket 301 and a first driving motor 302 . The motor mounting bracket 301 is fixed on the static platform 1 , and the first driving motor 302 is fixed on the motor mounting bracket 301 .

[0062] In the specific implementation, the motor mounting bracket 301 adopts an equilateral triangle geometric layout, with the three fixed points of the equilateral triangle as its own geometric center, and is evenly and symmetrically distributed on the static platform 1. This design simplifies the establishment of motion control and kinematic models, reduces the difficulty of self-leveling control, and improves the control accuracy and stability of the platform. The motor mounting bracket 301 adopts a right-angle frame structure and is equipped with a triangular rib plate to enhance the overall stability, and is tightly connected to the first drive motor 302 through a countersunk bolt to ensure the stability of the installation of the first drive motor 302. The first drive motor 302 is used to provide precise power according to the self-leveling control algorithm of the platform, and the drive connection mechanism 4 drives the moving platform 2 to adjust the inclination direction and inclination value, thereby controlling the final posture of the moving platform 2 and ensuring accurate self-leveling of the platform. In the specific implementation process, the first drive motor 302 has a self-locking function to meet the needs of fast and stable motion control of the moving platform.

[0063] See attached Figure 2 The connecting mechanism 4 includes an active rod 401, a driven rod 403, a fisheye bearing 404, a connecting support 405 and a plug bolt 406. One end of the active rod 401 is connected to the driving end of the first driving mechanism 3, the other end of the active rod 401 is hinged to one end of the driven rod 403, and the other end of the driven rod 403 is connected to the fisheye bearing 404. The fisheye bearing 404 is rotatably connected to the connecting support 405 through the plug bolt 406, and the connecting support 405 is fixed to the lower surface of the moving platform 2;

[0064] A limiting member 402 is formed at the lower end of the driven rod 403 , and the limiting member 402 can limit the relative position between the active rod 401 and the driven rod 403 .

[0065] Based on the above structure, it can be known that the active rod 401 adopts an integrated structural design of a coupling and a rod, and its lower end is connected to the coupling of the first drive motor 302 by bolts to ensure efficient and stable power transmission. This design ensures the transmission efficiency of the platform movement and improves the stability of the structure. The driven rod 403 adopts a slender cylindrical configuration, with threads tapped on the upper and lower ends for connection. The upper end is tightly connected to the fisheye bearing 404 by threads, and the lower end is tightly connected to the active rod 401 by threads. Power is effectively transmitted according to the motion constraint conditions to ensure that the moving platform achieves a predetermined motion posture. As a local spherical pair, the fisheye bearing 404 replaces the traditional spherical pair, which can effectively transmit power. At the same time, through its local degree of freedom restriction, it can limit the range of motion of the moving platform while meeting the needs of motion control. The connecting support 405 adopts an equilateral triangle geometric layout, with the three fixed points of the equilateral triangle as its own geometric center, and is evenly and symmetrically distributed and installed on the corresponding adjustable moving platform 2. The connecting support 405 adopts an inverted U-shaped symmetrical structure design to realize the connection between the moving platform 2 and the spherical pair structure fisheye bearing 404, ensuring the efficient docking and movement of the moving platform 2 and other components. In the spherical motion pair design of the platform, the connecting support 405, the fisheye bearing 404, and the plug bolt 406 work together. The inverted U-shaped connecting support 405 transmits the driving force through the cooperation of the plug bolt 406 and the fisheye bearing 404, and drives the corresponding moving platform 2 to change its posture according to a certain motion control relationship, thereby realizing the self-leveling of the final platform.

[0066] Therefore, the self-leveling control process of the air-to-ground docking platform described in the present invention is as follows: after receiving the motor rotation angle calculated according to the corresponding motion control instruction, the first drive motor 302 drives the corresponding active rod 401 to transmit the power according to the motion constraint conditions and power transmission defined by the limiter 402, and the driven rod 403 generates a follow-up motion, and finally transmits the motion power to the object moving platform 2 of the motion control through the local spherical pair composed of the fisheye bearing 404, the connecting support 405, and the plug bolt 406, and controls the absolute position of the moving platform 2 to ensure the precise self-leveling of the platform. In addition, the lower end of the driven rod 403 adopts an inverted trapezoidal limiter 402 as a limit design, which limits the rotation angle of the central rotating pair formed by the active rod 401 and the driven rod 403, which can avoid the instability of the overall mechanism after the first drive motor 302 loses its self-locking ability, and effectively improves the robustness of the platform and the stability of the corresponding structure.

[0067] It can be seen that the platform of the present invention has three degrees of freedom through the above-mentioned connection mechanism 4, among which the Z-axis freedom can realize the lifting function. Compared with the fixed lifting method using screw drive in the traditional hangar, the lifting method of this solution is more flexible; at the same time, the platform's rotational freedom around the X-axis and Y-axis enables it to have a self-leveling function, which enhances the flexibility of control. The platform of the present invention adopts an inward-moving kinematic chain layout, which can maximize the use of platform space and improve space utilization, which is conducive to the later embedding of the platform into the vehicle-mounted airport system.

[0068] like Figure 3 As shown, the active rod 401 and the driven rod 403 are connected by a connecting bolt 407, and the connecting bolt 407 includes a connecting screw 40701, a first spring washer 40702, a second spring washer 40703 and a connecting nut 40704. The connecting screw 40701 is inserted into the active rod 401 and the driven rod 403, the first spring washer 40702 is arranged between the limiting portion of the connecting screw 40701 and the active rod 401, the second spring washer 40703 is arranged between the active rod 401 and the driven rod 403, and the connecting nut 40704 is in contact with the driven rod 403 and is threadedly connected with the connecting screw 40701.

[0069] Based on the above design, it can be known that the active rod 401 and the driven rod 403 are fixedly connected as a whole by a connecting screw 40701 and a connecting nut 40704, and a first spring washer 40702 and a second spring washer 40703 are added at the installation position for adjusting the installation position. At the same time, the central second spring washer 40703 also absorbs impact and reduces the impact on the cyclic load of the connection, which can improve the durability and service life of the connecting mechanism 4 and the entire platform.

[0070] from Figure 1 and Figure 4 It can also be seen that the centering mechanism includes a first centering component 5 and a second centering component 6, the centering directions of the first centering component 5 and the second centering component 6 are perpendicular to each other, and the first centering component 5 and the second centering component 6 are used to drive the UAV to move toward the center of the moving platform 2.

[0071] The present invention adopts a symmetrical layout to set the first centering component 5 and the second centering component 6. The parts design and transmission mode of the first centering component 5 and the second centering component 6 are the same. The first centering component 5 and the second centering component 6 are set on the moving platform 2. The first centering component 5 and the second centering component 6 are both connected to the side wall of the moving platform 2, which optimizes the layout of the centering mechanism, further reduces the volume of the air-to-ground docking platform, optimizes the spatial layout, and facilitates subsequent embedding in the hangar. When the drone is docked, the position of the drone is accurately adjusted by driving the first centering component 5 and the second centering component 6, so that the drone can be accurately centered after being parked on the moving platform 2.

[0072] In this embodiment, the specific structure of the first centering component 5 can be found in the attached Figure 1 , including a second driving motor 501, a first active pulley 502, a first driven pulley 503, a first synchronous belt 504, a first connecting member 505, a first centering push rod 506, a second connecting member 507 and a second centering push rod 508, the second driving motor 501 is fixed to the bottom of the moving platform 2, the two first active pulleys 502 and the two first driven pulleys 503 are respectively matched and fixed to two opposite sides of the moving platform 2, the first active pulley 502 is drivingly connected to the output shaft of the second driving motor 501, the first connecting member 505 is connected to the output shaft of the second driving motor 501, and the second connecting member 507 is connected to the output shaft of the second driving motor 501. A driving pulley 502 and a first driven pulley 503 are connected through a first synchronous belt 504. The first connecting member 505 is fixed to the lower side of the first synchronous belt 504. The first pair of centering push rods 506 are connected between the first connecting members 505 on both sides. The second connecting member 507 is fixed to the upper side of the first synchronous belt 504. The second pair of centering push rods 508 are connected between the second connecting members 507 on both sides. The first pair of centering push rods 506 and the second pair of centering push rods 508 are used to drive the UAV to move toward the center of the moving platform 2.

[0073] The output shaft of the second driving motor 501 is connected to the first driving pulley 502 through the embedded bearing of the first driving pulley 502, and the first synchronous belt 504 connects the first driving pulley 502 and the first driven pulley 503 to achieve power transmission. In order to convert the rotational power of the stepper motor into the opposite horizontal motion power of the push rod module, the opposite upward and downward motion directions of the synchronous belt are fully utilized, and the first connecting member 505 and the second connecting member 507 are respectively fixedly connected to the upper belt and the lower belt of the first synchronous belt 504, so that the first connecting member 505 and the second connecting member 507 are driven by the first synchronous belt 504 to synchronously move in opposite directions toward or away from each other, thereby driving the first centering push rod 506 and the second centering push rod 508 to push the UAV to move toward the center of the moving platform 2, so that the UAV can be accurately centered after being parked on the moving platform 2.

[0074] In the embodiment of the present invention, the structure of the second centering component 6 is shown in the attached Figure 4 The second centering assembly 6 includes a third driving motor 601, a second active pulley 602, a second driven pulley 603, a second synchronous belt 604, a third connecting member 605, a third centering push rod 606, a fourth connecting member 607, and a fourth centering push rod 608. The third driving motor 601 is fixed to the bottom of the moving platform 2. The two second active pulleys 602 and the two second driven pulleys 603 are respectively matched and fixed to two opposite sides of the moving platform 2. The second active pulley 602 is connected to the output shaft of the third driving motor 601 by transmission. The second active pulley 602 and the second driven pulley 603 are connected to each other. The transmission connection is through the second synchronous belt 604, the third connecting member 605 is fixed on the lower belt of the second synchronous belt 604, the third centering push rod 606 is connected between the third connecting members 605 on both sides, the fourth connecting member 607 is fixed on the upper belt of the second synchronous belt 604, the fourth centering push rod 608 is connected between the fourth connecting members 607 on both sides, the third centering push rod 606 and the fourth centering push rod 608 are used to drive the UAV to move toward the center of the moving platform 2, and the third centering push rod 606 and the fourth centering push rod 608 are arranged side by side above the first centering push rod 506 and the second centering push rod 508.

[0075] In the specific implementation process, the second drive motor 501 and the third drive motor 601 are both stepper motors; the first synchronous belt 504 and the second synchronous belt 604 are both provided with a limiting structure, and the limiting structure ensures that the synchronous belts are arranged in parallel, wherein the limiting structure on the second synchronous belt 604 is Figure 4 The synchronous belt limiting member 609 shown is fixed to the bottom of the moving platform 2 , thereby leveling the lower belt of the second synchronous belt 604 .

[0076] In this example, the second centering assembly 6 and the first centering assembly 5 adopt similar parts design, and only the sizes of some parts are different, so as to simplify the structure and reduce the production cost. The output shaft of the third driving motor 601 is connected to the second driving pulley 602 through the embedded bearing of the second driving pulley 602, and the second synchronous belt 604 connects the second driving pulley 602 and the second driven pulley 603 to realize power transmission. In order to convert the rotational power of the stepper motor into the opposite horizontal motion power of the push rod module, the third connecting member 605 and the fourth connecting member 607 are driven by the second synchronous belt 604 to move toward or away from each other synchronously, thereby driving the third centering push rod 606 and the fourth centering push rod 608 to push the center of the unmanned aerial vehicle dynamic platform 2 to move, so as to cooperate with the first centering assembly 5 to realize the movement of the unmanned aerial vehicle landed on the platform to the geometric center of the platform, realize the precise adjustment of the position of the unmanned aerial vehicle, and realize the precise centering of the unmanned aerial vehicle after the unmanned aerial vehicle is parked on the dynamic platform 2, and finally fix the position through the motor self-locking function.

[0077] In this embodiment, the structure of the first connecting member 505 is consistent with that of the third connecting member 605. Figure 5 The third connecting member 605 includes a first clamping block 60501, a first connecting block 60502, a first connecting bracket 60504, and a first leveling pad 60505. The first clamping block 60501 is fixedly connected to the lower end of the first connecting block 60502 located above it by screws. The second synchronous belt 604 is clamped and fixed between the first clamping block 60501 and the first connecting block 60502. The first connecting bracket 60504 is fixedly arranged on the upper part of the first connecting block 60502. The top of the first connecting bracket 60504 is connected to the third connecting member 605 through the first leveling pad 60505.

[0078] In this embodiment, the structure of the second connecting member 507 is consistent with the structure of the fourth connecting member 607. Figure 6 The fourth connecting member 607 includes a second clamping block 60701, a second connecting block 60702, a second connecting bracket 60704, and a second leveling pad 60705. The second clamping block 60701 is fixedly connected to the lower end of the second connecting block 60702 located above it by screws. The second synchronous belt 604 is clamped and fixed between the second clamping block 60701 and the second connecting block 60702. The second connecting bracket 60704 is fixedly arranged on the upper part of the second connecting block 60702. The top of the second connecting bracket 60704 is connected to the fourth connecting member 607 through the second leveling pad 60705.

[0079] Based on the above content, the connection between the third connecting member 605 and the second synchronous belt 604 is realized through the cooperation of the first clamping block 60501 and the first connecting block 60502, and the connection between the fourth connecting member 607 and the second synchronous belt 604 is realized through the cooperation of the second clamping block 60701 and the second connecting block 60702, so that the third connecting member 605 and the fourth connecting member 607 can move in opposite directions through the drive of the second synchronous belt 604, the third centering push rod 606 is connected through the first connecting bracket 60504, the first leveling pad 60505 and the first connecting block 60502, and the fourth centering push rod 608 is connected through the second connecting bracket 60704, the second leveling pad 60705 and the second connecting block 60702, so that the height of the third centering push rod 606 and the fourth centering push rod 608 can be adjusted, ensuring that the third centering push rod 606 and the fourth centering push rod 608 are located in the same plane, thereby ensuring the efficiency of the centering function and the reliability of the device.

[0080] from Figure 5 and Figure 6 It can also be seen that the first centering component 5 also includes a first slide rail 509, which is fixed to the side of the moving platform 2 and arranged along the length direction of the side of the moving platform 2, and a slider is arranged on the rear side of the first connecting member 505 and the second connecting member 507, and the first connecting member 505 and the second connecting member 507 are both slidably set on the first slide rail 509 through the slider; the second centering component 6 also includes a second slide rail 6010, which is fixed to the side of the moving platform 2 and arranged along the length direction of the side of the moving platform 2, and the setting direction of the second slide rail 6010 is perpendicular to the setting direction of the first slide rail 509, a first slider 60503 is arranged on the rear side of the first connecting block 60502, and a second slider 60703 is arranged on the rear side of the second connecting block 60702, and the third connecting member 605 and the fourth connecting member 607 are slidably set on the second slide rail 6010 through the first slider 60503 and the second slider 60703 respectively.

[0081] Based on the above-mentioned first slide rail 509 and second slide rail 6010, the rear sides of the first connecting member 505 and the second connecting member 507 and the rears of the third connecting member 605 and the fourth connecting member 607 are provided with sliders for sliding cooperation therewith respectively, so as to limit the movement speed of the sliders and enhance the stability of the first centering push rod 506, the second centering push rod 508, the third centering push rod 606 and the fourth centering push rod 608 during the centering process, thereby ensuring the stability of the UAV during the centering process and preventing the UAV from falling or being damaged due to centering.

[0082] In the implementation of the present invention, the first pair of push rods 506 and the second pair of push rods 508 have the same structure and are both in the shape of long strips; the third pair of push rods 606 and the fourth pair of push rods 608 have the same structure. Figure 7 The present embodiment takes the third centering push rod 606 as an example for explanation, and its structure includes a first sub-push rod 60601, a first connecting block 60502, a third sub-push rod 60603, a fourth sub-push rod 60604, and a fifth sub-push rod 60605. One end of the first sub-push rod 60601 is connected to the third connecting member 605 on one side, and a through slot 60606 is provided at the other end of the first sub-push rod 60601. A hinge bolt 60607 is provided in the through slot 60606. One end of the second sub-push rod 60602 is connected to the third connecting member 605 on one side. It is rotatably connected to the hinge bolt 60607, the other end of the second sub-push rod 60602 is hinged to one end of the third sub-push rod 60603, the other end of the third sub-push rod 60603 is hinged to one end of the fourth sub-push rod 60604, one end of the fifth sub-push rod 60605 is fixedly connected to the third connecting member 605 on the other side, and a through slot 60606 is also provided at the other end of the fifth sub-push rod 60605, and the other end of the fourth sub-push rod 60604 is rotatably connected to the hinge bolt 60607 located in the through slot 60606.

[0083] The traditional horizontal push rod has a poor effect when adapting to drones of different models, especially for drones with large model differences, its fixing effect is often insufficient. In view of the differences in the frame structures of different drones, the present invention proposes a centering mechanism based on a deformable push rod to ensure that drones of different models can be firmly docked. That is, in order to ensure the centering effect of drones of different models, the deformable third centering push rod 606 and the fourth centering push rod 608 of the above-mentioned five-rod structure are used. The third centering push rod 606 and the fourth centering push rod 608 adopt a symmetrical structure, which consists of a first sub-push rod 60601, a first connecting block 60502, a third sub-push rod 60603, a fourth sub-push rod 60604, and a fifth sub-push rod 60605. The push rods 60605 are movably connected, wherein the first push rod 60601 and the fifth push rod 60605 are provided with U-shaped slots 60606, which are connected to the second push rod 60602 and the fourth push rod 60604 vertically arranged by hinge bolts 60607, so that the third centering push rod 606 has the freedom of horizontal movement and rotation; and the central third push rod 60603 is hinged with the second push rod 60602 and the fourth push rod 60604 by bolts, so that it has the freedom of rotation. Through the structural design of the third centering push rod 606 and the fourth centering push rod 608, it can adapt to drone racks of different shapes and sizes, thereby not only improving the adaptability of the platform centering device, but also further enhancing the efficiency of centering multiple drones. At the same time, by adopting an adaptive modular design, the present invention not only simplifies the device structure and makes adjustment more convenient, but also effectively improves the centering accuracy and clamping efficiency of the platform, providing a more reliable technical guarantee for the efficient docking of drones.

[0084] It should be noted that, in actual implementation, in addition to adopting a long strip structure, the first pair of centering push rods 506 and the second pair of centering push rods 508 may also adopt a structure consistent with the third pair of centering push rods 606. In addition, the first pair of centering push rods 506, the second pair of centering push rods 508, the third pair of centering push rods 606 and the fourth pair of centering push rods 608 may also adopt flexible push rod modules of other structural forms.

[0085] In summary, the air-to-ground docking platform described in the present invention is mainly composed of five parts: a static platform 1, a dynamic platform 2, a first driving mechanism 3, a connecting mechanism 4 and a centering mechanism. The overall design adopts a 3-RRS docking platform configuration, so that the adjustable dynamic platform mechanism as the overall UAV docking platform has three degrees of freedom, ensuring that the dynamic platform has the Z-axis up and down translation freedom and the rotation freedom around the X-axis and Y-axis, thereby providing flexible adjustment capabilities, ensuring the absolute posture stability of the dynamic platform, and ensuring the safe and efficient take-off and landing of the UAV in different environments:

[0086] Z-axis vertical translation freedom: This degree of freedom ensures that the platform can adjust the height of the moving platform through the rotation of the motor, which is convenient for integration into the overall layout of the vehicle-mounted platform. When the drone needs to perform a mission, the platform can automatically rise to provide sufficient take-off and landing space for the drone. After completing the take-off and landing mission, the platform automatically retracts, which is convenient for the recovery, storage and charging management of the drone.

[0087] Rotational freedom around the X-axis and Y-axis: This degree of freedom is the core of the platform's self-leveling function, ensuring that the platform can always remain stable and level relative to the ground when the vehicle's posture is unstable, the road surface is bumpy or in complex road conditions. The self-leveling mechanism effectively reduces the control difficulty during the autonomous docking process of the drone and improves the accuracy of the drone docking. In addition, the platform's self-leveling function also improves the efficiency of drone storage and wireless charging.

[0088] Therefore, the present invention can compensate for the posture changes caused by ground bumps in real time through the self-leveling function of the moving platform 2, ensuring that the absolute position of the moving platform 2 relative to the ground always remains stable, thereby not only significantly reducing the control difficulty of autonomous landing of the UAV, but also limiting the position of the UAV parked on the moving platform 2 after centering by the centering mechanism, thereby improving the safety of the UAV when stored in the hangar, ensuring that the UAV can complete the take-off and landing tasks safely and efficiently in various complex environments, thereby effectively solving the problems of greater landing difficulty and low positioning accuracy in the process of autonomous take-off and landing of the UAV on the moving platform in the prior art, and overcoming the difficult problem of unstable platform posture of the traditional fixed docking platform due to the bumps of the unmanned vehicle under complex road conditions.

Claims

1. A self-leveling air-to-ground docking platform based on a 3-RRS structure, characterized in that: include: A static platform (1); A moving platform (2) for parking the drone, arranged above the static platform (1); Three first driving mechanisms (3) are fixed on the static platform (1) in a centrally symmetrical manner; Three connecting mechanisms (4), the three connecting mechanisms (4) are respectively connected between the driving end of each first driving mechanism (3) and the bottom of the moving platform (2), and are used to adjust the inclination direction and inclination value of the moving platform (2) under the drive of the first driving mechanism (3); A centering mechanism is movably arranged on the moving platform (2) and is used to center the UAV parked on the moving platform (2).

2. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 1 is characterized by: The first driving mechanism (3) comprises a motor mounting bracket (301) and a first driving motor (302); the motor mounting bracket (301) is fixed on the static platform (1); and the first driving motor (302) is fixed on the motor mounting bracket (301).

3. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 1 is characterized by: The connecting mechanism (4) comprises an active rod (401), a driven rod (403), a fisheye bearing (404), a connecting support (405) and a plug bolt (406); one end of the active rod (401) is connected to the driving end of the first driving mechanism (3); the other end of the active rod (401) is hinged to one end of the driven rod (403); the other end of the driven rod (403) is connected to the fisheye bearing (404); the fisheye bearing (404) is rotatably connected to the connecting support (405) via the plug bolt (406); and the connecting support (405) is fixed to the lower surface of the moving platform (2); A limiting member (402) is formed at the lower end of the driven rod (403), and the limiting member (402) can limit the relative position between the active rod (401) and the driven rod (403).

4. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 3 is characterized by: The active rod (401) and the driven rod (403) are connected via a connecting bolt (407). The connecting bolt (407) comprises a connecting screw (40701), a first spring washer (40702), a second spring washer (40703) and a connecting nut (40704). The connecting screw (40701) is inserted into the active rod (401) and the driven rod (403). The first spring washer (40702) is arranged between the limiting portion of the connecting screw (40701) and the active rod (401). The second spring washer (40703) is arranged between the active rod (401) and the driven rod (403). The connecting nut (40704) contacts the driven rod (403) and is threadedly connected to the connecting screw (40701).

5. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 1 is characterized by: The centering mechanism comprises a first centering component (5) and a second centering component (6), the centering directions of the first centering component (5) and the second centering component (6) are perpendicular to each other, and the first centering component (5) and the second centering component (6) are used to drive the UAV to move towards the center of the moving platform (2).

6. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 5 is characterized by: The first centering component (5) comprises a second driving motor (501), a first driving pulley (502), a first driven pulley (503), a first synchronous belt (504), a first connecting member (505), a first centering push rod (506), a second connecting member (507) and a second centering push rod (508); the second driving motor (501) is fixed to the bottom of the moving platform (2); the two first driving pulleys (502) and the two first driven pulleys (503) are respectively matched and fixed to two opposite sides of the moving platform (2); the first driving pulley (502) and the output shaft of the second driving motor (501) are connected to each other; A transmission connection is provided, wherein the first driving pulley (502) and the first driven pulley (503) are connected to each other through a first synchronous belt (504); the first connecting member (505) is fixed to the lower side of the first synchronous belt (504); the first pair of centering push rods (506) are bridged between the first connecting members (505) on both sides; the second connecting member (507) is fixed to the upper side of the first synchronous belt (504); the second pair of centering push rods (508) are bridged between the second connecting members (507) on both sides; the first pair of centering push rods (506) and the second pair of centering push rods (508) are used to drive the UAV to move toward the center of the moving platform (2).

7. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 6 is characterized by: The second centering component (6) comprises a third driving motor (601), a second driving pulley (602), a second driven pulley (603), a second synchronous belt (604), a third connecting member (605), a third centering push rod (606), a fourth connecting member (607), and a fourth centering push rod (608); the third driving motor (601) is fixed to the bottom of the moving platform (2); two second driving pulleys (602) and two second driven pulleys (603) are respectively matched and fixed to two opposite sides of the moving platform (2); the second driving pulley (602) and the output shaft of the third driving motor (601) are connected to each other; The second driving pulley (602) and the second driven pulley (603) are connected to each other through a second synchronous belt (604); the third connecting member (605) is fixed to the lower side of the second synchronous belt (604); the third centering push rod (606) is connected between the third connecting members (605) on both sides; the fourth connecting member (607) is fixed to the upper side of the second synchronous belt (604); the fourth centering push rod (608) is connected between the fourth connecting members (607) on both sides; the third centering push rod (606) and the fourth centering push rod (608) are used to drive the UAV to move toward the center of the dynamic platform (2).

8. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 7 is characterized by: The third connecting member (605) comprises a first clamping block (60501), a first connecting block (60502), a first connecting bracket (60504), and a first leveling pad (60505); the first clamping block (60501) is fixedly connected to the lower end of the first connecting block (60502) located above the first clamping block (60501) by means of screws; the second synchronous belt (604) is clamped and fixed between the first clamping block (60501) and the first connecting block (60502); the first connecting bracket (60504) is fixedly arranged on the upper part of the first connecting block (60502); the top of the first connecting bracket (60504) is connected to the third connecting member (605) by means of the first leveling pad (60505); The fourth connecting member (607) comprises a second clamping block (60701), a second connecting block (60702), a second connecting bracket (60704), and a second leveling pad (60705); the second clamping block (60701) is fixedly connected to the lower end of the second connecting block (60702) located above it by screws; the second synchronous belt (604) is clamped and fixed between the second clamping block (60701) and the second connecting block (60702); the second connecting bracket (60704) is fixedly arranged on the upper part of the second connecting block (60702); the top of the second connecting bracket (60704) is connected to the fourth connecting member (607) by the second leveling pad (60705).

9. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 7 is characterized by: The structures of the third pair of centering push rods (606) and the fourth pair of centering push rods (608) are consistent, wherein the third pair of centering push rods (606) include a first sub-push rod (60601), a first connecting block (60502), a third sub-push rod (60603), a fourth sub-push rod (60604), and a fifth sub-push rod (60605), one end of the first sub-push rod (60601) is connected to the third connecting member (605) on one side, a through groove (60606) is provided at the other end of the first sub-push rod (60601), and a hinge bolt (60607) is provided in the through groove (60606), and the second sub-push rod One end of the second sub-push rod (60602) is rotatably connected to the hinge bolt (60607), the other end of the second sub-push rod (60602) is hinged to one end of the third sub-push rod (60603), the other end of the third sub-push rod (60603) is hinged to one end of the fourth sub-push rod (60604), one end of the fifth sub-push rod (60605) is fixedly connected to the third connecting member (605) on the other side, and a through groove (60606) is also provided at the other end of the fifth sub-push rod (60605), and the other end of the fourth sub-push rod (60604) is rotatably connected to the hinge bolt (60607) located in the through groove (60606).

10. The self-leveling air-to-ground docking platform based on the 3-RRS structure according to claim 7 is characterized by: The first centering component (5) further comprises a first slide rail (509), the first slide rail (509) being fixed to the side surface of the moving platform (2) and arranged along the length direction of the side surface of the moving platform (2), and the first connecting member (505) and the second connecting member (507) being both slidably arranged on the first slide rail (509); The second centering component (6) also includes a second slide rail (6010), which is fixed to the side of the moving platform (2) and arranged along the length direction of the side of the moving platform (2). The setting direction of the second slide rail (6010) is perpendicular to the setting direction of the first slide rail (509), and the third connecting member (605) and the fourth connecting member (607) are both slidably set on the second slide rail (6010).

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