A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles

Abstract

This invention relates to a multi-stage bistable mechanism for adaptive landing of unmanned aerial vehicles (UAVs), comprising a plate-shaped rapid bistable gripper, a sliding end gripper fixing block, a telescopic baffle, a sliding end gripper fixing block, a shape memory alloy spring, and a fixed end gripper fixing block. The telescopic baffle has a transverse groove extending through both ends. The fixed end gripper fixing block is fixedly connected to one end of the transverse groove. The sliding end gripper fixing block is located in the transverse groove, and the sliding end gripper fixing block is located between the sliding end gripper fixing block and the fixed end gripper fixing block. All fixing blocks are connected by shape memory alloy springs. The plate-shaped rapid bistable gripper is a hemispherical plate and is fixedly connected to the sliding end gripper fixing block or the fixed end gripper fixing block at its root. Compared with the prior art, this invention can achieve rapid and stable landing on pipes of different diameters with relatively small weight and volume constraints.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a multi-stage bistable mechanism for adaptive parking of UAVs. Background Technology

[0002] In recent years, drone technology has experienced explosive growth. Drones are highly flexible and maneuverable, capable of rapid deployment, taking off and landing in confined spaces and adapting to complex terrain. They are also not limited by human technical skills and can efficiently cover large areas. They are playing an increasingly important role in many fields such as reconnaissance, surveillance, transportation, and aerial surveying.

[0003] Current drones, due to their simple structure, suffer from short endurance. Traditional drones primarily rely on onboard batteries for power. During missions, continuous flight consumes a significant amount of energy, limiting operational time. Frequent charging or battery replacements not only impact operational efficiency but are also difficult to implement in certain special operating environments (such as remote areas or large areas above farmland). While aerial refueling can supplement energy to some extent, it is complex and costly, making it unsuitable for small drones. Drone territorial docking technology has thus become a research hotspot, enabling drones to dock at specific locations during mission breaks to reduce unnecessary energy consumption. Therefore, developing a drone territorial docking device with high load capacity, capable of rapid and stable docking on special structures such as pipes of varying diameters, and possessing simple structure, light weight, ease of control, strong adaptability, and high concealment is of significant research and application value. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a multi-stage bistable mechanism for adaptive resting of unmanned aerial vehicles (UAVs), which can achieve rapid and stable resting on pipes of different diameters with relatively small weight and volume constraints.

[0005] The objective of this invention can be achieved through the following technical solutions:

[0006] This invention provides a multi-stage bistable mechanism for adaptive stopping of unmanned aerial vehicles (UAVs), comprising a sheet-like fast bistable gripper, a sliding end gripper fixing short block, a telescopic device baffle, a sliding end gripper fixing long block, a shape memory alloy spring, and a fixed end gripper fixing block. The telescopic device baffle has a transverse groove that passes through both ends. The fixed end gripper fixing block is fixedly connected to one end of the transverse groove. The sliding end gripper fixing short block is located in the transverse groove. There are one or more sliding end gripper fixing long blocks located between the sliding end gripper fixing short block and the fixed end gripper fixing block. The sliding end gripper fixing long blocks are connected to each other, between the sliding end gripper fixing long block and the sliding end gripper fixing short block, and between the sliding end gripper fixing long block and the fixed end gripper fixing block by shape memory alloy springs.

[0007] The plate-shaped fast bistable gripper is a hemispherical plate. There are multiple plate-shaped fast bistable grippers, which are fixedly connected at the root to the sliding end gripper fixing block or the fixed end gripper fixing block.

[0008] Furthermore, there are two sliding end gripper fixing blocks, three shape memory alloy springs, and two sheet-shaped fast bistable grippers, which are respectively fixedly connected to the sliding end gripper fixing blocks or the fixed end gripper fixing blocks.

[0009] Furthermore, the sheet-like fast bistable gripper can rotate longitudinally on the sliding end gripper fixed block or the fixed end gripper fixed block.

[0010] Furthermore, the plate-shaped fast bistable grippers are arranged with their concave surfaces facing each other or back to back. When the concave surfaces of the plate-shaped fast bistable grippers face each other, the plate-shaped fast bistable grippers clamp the two sides of the inner end perching pipe through the concave surfaces; when the concave surfaces of the plate-shaped fast bistable grippers face back to back, the plate-shaped fast bistable grippers are stuck on the inner side of the two outer end perching pipes through the concave surfaces.

[0011] Furthermore, the fixed long blocks of the sliding end gripper, the fixed long blocks of the sliding end gripper and the fixed short blocks of the sliding end gripper, and the fixed long blocks of the sliding end gripper and the fixed blocks of the fixed end gripper are all connected by a two-bar linkage composed of rods.

[0012] Furthermore, each shape memory alloy spring is driven by a switching circuit.

[0013] Furthermore, when the switching circuit is energized, the corresponding shape memory alloy spring contracts due to heat.

[0014] Furthermore, the telescopic device baffle is provided with multiple drone connection shaft holes for connecting the drone bracket.

[0015] Furthermore, the sheet-like rapid bistable gripper is made of sheet-like epoxy fiberglass board.

[0016] Furthermore, the sliding end gripper fixing block can slide along the transverse groove or be fixed in a certain position within the transverse groove.

[0017] Compared with the prior art, the present invention has the following advantages:

[0018] 1. The sheet-like rapid bistable gripper of the present invention has a hemispherical plate structure. Two hemispherical plates are respectively mounted on the sliding end gripper fixing block and the fixed end gripper fixing block, and have the freedom of rotation in the vertical direction. It can firmly grip a single pipe in a forward-encircling manner, and can also hang on multiple pipes in the reverse direction. Moreover, it can achieve extremely rapid switching between these two states, thereby achieving the rapid stopping function of the UAV and greatly improving the stopping efficiency and flexibility of the UAV in different pipe environments. In addition, the device adopts a multi-level adjustable distance device driven by shape memory alloy (SMA) springs. This device can accurately adapt to more pipes of different diameters, significantly expanding the range of UAV habitat applications in complex scenarios.

[0019] 2. This invention utilizes the heating characteristic of SMA (Stable Motion Gripper) to achieve flexible distance adjustment. Its drive unit possesses high-efficiency driving capabilities while also being lightweight and compact, making it easy to mount on drones. Simultaneously, the bistable gripper employs a sheet-like structure design, further reducing the overall weight of the device. The combined effect of these two features makes the entire device extremely lightweight, perfectly adapting to and mounting on drones without adding any extra load, ensuring that the drone's flight performance is not affected.

[0020] 3. From the perspective of overall structure, the design of this invention is simple and clear, and the connection and cooperation between the components are clear and reasonable. Its good versatility allows it to be matched with most drone models. After being installed on a drone, it will not have a significant adverse effect on the original flight performance of the drone, such as flight speed, endurance, and control stability, thus providing a strong guarantee for the efficient and stable operation of the drone. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the device in this invention when it is at its maximum habitat diameter;

[0022] Figure 2 This is a schematic diagram of the perching pipe when the device in this invention is at its minimum perching diameter;

[0023] Figure 3 This is a schematic diagram showing the bistable gripper of the device in this invention resting on the external double pipes when it is in another stable state;

[0024] In the figure, 1. Sheet-shaped fast bistable gripper, 2. UAV connecting shaft hole, 3. Sliding end gripper fixing short block, 4. Telescopic device baffle, 5. Sliding end gripper fixing long block, 6. Rod, 7. Shape memory alloy spring, 8. Fixed end gripper fixing block, 9. Inner end perching pipe, 10. Outer end perching pipe. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0028] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0029] This invention relates to a multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles (UAVs). The mechanism mainly consists of a sheet-like fast bistable gripper 1 and a multi-stage adjustable distance device. The maximum deployment distance of the adjustable distance device is as follows: Figure 1 As shown, the state of a bistable gripper resting on a single pipe facing each other is as follows: Figure 2 As shown, the bistable gripper rests on two pipes facing away from each other in the following state: Figure 3 As shown.

[0030] The sheet-like rapid bistable gripper 1 is a hemispherical plate made of sheet-like epoxy fiberglass board, preferably two in number. The concave surface of the hemispherical plate can provide radial constraint on pipe walls of different diameters. When the concave surfaces of the two sheet-like rapid bistable grippers 1 are facing each other, they can clamp the outer wall of a single pipe, i.e., the inner end resting pipe 9, from both sides; when the concave surfaces are facing away from each other, they can clamp the inner wall of two pipes, i.e., the outer end resting pipe 10, from the inside out. Therefore, both sheet-like rapid bistable grippers 1 can rotate longitudinally and have two working states: with concave surfaces facing each other and facing away from each other. The bistable structure is used to assist the UAV in quickly resting on the pipe.

[0031] The working principle of the sheet-like rapid bistable gripper can be summarized as follows: For a single pipe, the bistable gripper 1 initially faces away from each other. When the drone approaches the pipe, the bistable gripper quickly responds and changes to a facing-to-facing state to achieve rapid landing on the single pipe. For two pipes, the bistable gripper 1 initially faces away from each other. When the drone approaches the pipe, the bistable gripper quickly responds and changes to a facing-away state to achieve rapid landing on both pipes.

[0032] In this embodiment, the multi-level adjustable distance device consists of a mounting base and a telescopic device.

[0033] The mounting base includes components such as a drone connection shaft hole 2, a sliding end gripper fixing short block 3, a telescopic device baffle 4, a sliding end gripper fixing long block 5, and a fixed end gripper fixing block 8. The telescopic device baffle 4 serves as the base of the entire mechanism and has a horizontal groove running through it. The fixed end gripper fixing block 8 is fixed to one end of the horizontal groove. The sliding end gripper fixing short block 3 and the sliding end gripper fixing long block 5 are located within the horizontal groove and can slide along it. There are two sliding end gripper fixing long blocks 5, and one sliding end gripper fixing short block 3 and one fixed end gripper fixing block 8. Both sliding end gripper fixing long blocks 5 are located between the sliding end gripper fixing short block 3 and the fixed end gripper fixing block 8. The drone connection shaft hole 2 is located on the telescopic device baffle 4, and its number, specifications, and layout are designed according to the specifications of the compatible drone.

[0034] The working principle of the mounting base can be briefly described as follows: A shaft hole of the same size as the drone's connection shaft hole 2 is pre-drilled on the drone bracket, and the base is mounted on the drone through this shaft hole. The sliding end gripper fixing short block 3 and the fixed end gripper fixing block 8 are respectively connected to two plate-shaped bistable grippers 1. Two sliding end gripper fixing long blocks 5 are placed between these two fixing blocks to connect the telescopic device. Additionally, the telescopic device baffle 4 is used for the vertical positioning and horizontal movement of the telescopic device.

[0035] The telescopic device consists of rods 6 and shape memory alloy springs 7, used for multi-stage adjustment of the distance between the two bistable grippers, allowing them to rest on pipes of different diameters. Shape memory alloy springs 7 connect the sliding end gripper fixing blocks 5, the sliding end gripper fixing blocks 5 and 3, and the sliding end gripper fixing blocks 3 and 8. Since there are two sliding end gripper fixing blocks 5, there are three shape memory alloy springs 7. Furthermore, two-bar linkages composed of rods 6 are connected between the sliding end gripper fixing blocks 5, the sliding end gripper fixing blocks 5 and 3, and the sliding end gripper fixing blocks 3 and 8. These linkages are arranged in pairs on both sides of the shape memory alloy springs 7, totaling twelve rods 6, which can fold and extend with the extension and retraction of the shape memory alloy springs 7, while also providing support for the telescopic device.

[0036] The working principle of the telescopic device can be briefly described as follows: Three shape memory alloy springs 7 are driven by different switching circuits. When the switching circuit is energized, the SMA springs heat up and contract, thereby moving the rod 6 horizontally to shorten it. When different numbers of SMA springs are energized, the shortening distance will vary to different degrees, thus achieving multi-level changes in distance and allowing it to accommodate pipes of different diameters.

[0037] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles, characterized in that, The device includes a sheet-like fast bistable gripper (1), a sliding end gripper fixing short block (3), a telescopic device baffle (4), a sliding end gripper fixing long block (5), a shape memory alloy spring (7), and a fixed end gripper fixing block (8). The telescopic device baffle (4) is provided with a transverse groove that passes through both ends. The fixed end gripper fixing block (8) is fixedly connected to one end of the transverse groove. The sliding end gripper fixing short block (3) is located in the transverse groove. The number of sliding end gripper fixing long blocks (5) is one or more and they are located between the sliding end gripper fixing short block (3) and the fixed end gripper fixing block (8). The sliding end gripper fixing long blocks (5) are connected to each other, between the sliding end gripper fixing long block (5) and the sliding end gripper fixing short block (3), and between the sliding end gripper fixing long block (5) and the fixed end gripper fixing block (8) by the shape memory alloy spring (7). The sheet-shaped fast bistable gripper (1) is a hemispherical plate. There are multiple sheet-shaped fast bistable grippers (1). Each sheet-shaped fast bistable gripper (1) is fixedly connected at its root to a sliding end gripper fixing block (5) or a fixed end gripper fixing block (8). The sliding end gripper fixed long block (5), the sliding end gripper fixed long block (5) and the sliding end gripper fixed short block (3), and the sliding end gripper fixed long block (5) and the fixed end gripper fixed block (8) are all connected by a two-bar linkage composed of rods (6).

2. The multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 1, characterized in that, The number of the sliding end gripper fixing blocks (5) is two, the number of the shape memory alloy springs (7) is three, and the number of the sheet-shaped fast bistable grippers (1) is two, and they are respectively fixedly connected to the sliding end gripper fixing blocks (5) and the fixed end gripper fixing blocks (8).

3. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 2, characterized in that, The sheet-shaped fast bistable gripper (1) is rotatably connected to the sliding end gripper fixing block (5) or the fixed end gripper fixing block (8).

4. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 3, characterized in that, The sheet-like fast bistable gripper (1) is arranged with its concave surfaces facing each other or back to back. When the concave surfaces of the sheet-like fast bistable gripper (1) face each other, the sheet-like fast bistable gripper (1) clamps the two sides of the inner end perching pipe (9) through its concave surface. When the concave surfaces of the sheet-like fast bistable gripper (1) face back to back, the sheet-like fast bistable gripper (1) is stuck on the inner side of the two outer end perching pipes (10) through its concave surface.

5. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 1, characterized in that, Each of the shape memory alloy springs (7) is driven by a switching circuit.

6. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 5, characterized in that, When the switching circuit is energized, the corresponding shape memory alloy spring (7) contracts due to heat.

7. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 1, characterized in that, The telescopic device baffle (4) is provided with multiple drone connection shaft holes (2) for connecting drone brackets.

8. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to claim 1, characterized in that, The sheet-like fast bistable gripper (1) is made of sheet-like epoxy fiberglass board.

9. A multi-stage bistable mechanism for adaptive parking of unmanned aerial vehicles according to any one of claims 1-8, characterized in that, The sliding end gripper fixing block (3) can slide along the transverse groove or be fixed in a certain position within the transverse groove.

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