Agricultural plant protection unmanned aerial vehicle fixing device

Abstract

The invention belongs to the technical field of fixing devices, and particularly relates to an agricultural plant protection unmanned aerial vehicle fixing device which comprises a parking platform, a pre-clamping positioning mechanism, a fixing mechanism and an unmanned aerial vehicle moving mechanism. The pre-clamping positioning mechanism, the fixing mechanism and the unmanned aerial vehicle moving mechanism are all arranged on the parking platform. The unmanned aerial vehicle at the pre-clamping and positioning mechanism is fixed through the fixing mechanism; the unmanned aerial vehicle is moved to the pre-clamping and positioning mechanism through the unmanned aerial vehicle moving mechanism; an unmanned aerial vehicle moving mechanism is arranged, and accurate landing of the unmanned aerial vehicle is not needed; the unmanned aerial vehicle is moved to the pre-clamping and positioning mechanism through the unmanned aerial vehicle moving mechanism, and preliminary adjustment of the position is achieved. And the position of the unmanned aerial vehicle is finely adjusted through the pre-clamping positioning mechanism, and final positioning is achieved. And finally, the unmanned aerial vehicle at the pre-clamping and positioning mechanism is fixed through the fixing mechanism.

Description

Technical Field

[0001] The invention belongs to the technical field of fixing devices, and in particular relates to a fixing device for an agricultural plant protection UAV. Background Art

[0002] When fixing a vehicle-mounted drone on a trailer, common fixing methods include using a strap combined with a D-shaped lashing ring, or using an automatic fixing mechanism to quickly fix the drone. However, these fixing methods have many disadvantages.

[0003] First, the trailer usually adopts a two-layer structure, the lower layer is used to store pesticides, water tanks and other items, and the drone is fixed on the upper layer. This design requires operators to perform high-altitude operations, which increases the inconvenience of the operation. In addition, although the automatic fixing mechanism can achieve rapid fixation, it has high requirements for the accuracy of the drone landing. For example, the vision-based autonomous landing system requires the drone to accurately identify the landing mark, and complex environmental changes (such as motion blur, occlusion, lighting changes, etc.) will affect the landing accuracy.

[0004] Secondly, the upper platform space of the trailer is limited, which further increases the difficulty of landing the drone. In a limited space, the drone is easily disturbed by the edge of the platform when landing, and once the landing position deviates from the predetermined area, it may cause fixation failure or damage to the drone. For example, in actual applications, some visual positioning systems will have a significant impact on the landing success rate and accuracy due to platform space limitations.

[0005] In summary, the existing vehicle-mounted drone fixing methods and trailer cart structures have many inconveniences and risks in practical applications, and urgently need to be improved to improve the convenience and safety of operation. Summary of the invention

[0006] In view of the above technical problems, the present invention provides an agricultural plant protection UAV fixing device, which can save personnel from high-altitude operations, can fix the UAV, and can reduce the requirements for the landing accuracy of the UAV.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: A fixing device for an agricultural plant protection UAV comprises a parking platform, a pre-clamping and positioning mechanism, a fixing mechanism and a UAV moving mechanism; the pre-clamping and positioning mechanism, the fixing mechanism and the UAV moving mechanism are all arranged on the parking platform; the UAV at the pre-clamping and positioning mechanism is fixed by the fixing mechanism; the UAV is moved to the pre-clamping and positioning mechanism by the UAV moving mechanism; The pre-clamping positioning mechanism comprises a movable push plate and a positive and negative lead screw; the positive and negative lead screw is rotatably connected to the parking platform, and two movable push plates are provided, the two movable push plates are arranged opposite to each other and are threadedly connected to the positive and negative lead screws, and the two movable push plates are both slidably connected to the parking platform; A driving gear is provided in the middle of the forward and reverse lead screws, and a driving rack matched with the driving gear is provided on the UAV moving mechanism.

[0008] The UAV moving mechanism includes a linear moving mechanism, a rotating motor and a UAV pallet; the fixed part of the linear moving mechanism is fixedly connected to the parking platform, and the bottom of the rotating motor is connected to the moving part of the linear moving mechanism through a telescopic cylinder; the UAV pallet is connected to the rotating shaft of the rotating motor through a rotating arm; the driving rack is fixed on the moving part of the linear moving mechanism.

[0009] The rotating arm is a telescopic structure; the fixing mechanism adopts an angle cylinder.

[0010] A roller assembly is fixed on the parking platform, and the roller assembly is located at the pre-clamping positioning mechanism.

[0011] The roller assembly comprises a roller frame and rollers, the roller frame is fixedly connected to the parking platform, and the rollers are rotatably connected to the roller frame.

[0012] A rubber plate is fixed to the upper end of the movable push rod. The rubber plate and the movable push plate are fixedly connected by fixing bolts. The rubber plate is provided with corresponding waist-shaped holes.

[0013] The parking platform is also provided with an extension platform; the UAV on the extension platform is moved to the pre-clamping positioning mechanism by the UAV moving mechanism.

[0014] The extension platform can be deployed or retracted by the drone's moving mechanism.

[0015] The expansion platform comprises a moving plate, an expansion plate and an expansion net, the moving plate is slidably connected to the parking platform, two expansion plates are provided, the two expansion plates are respectively connected to the moving plate through a connecting rod assembly, and the connecting rod assembly is composed of two hinged connecting rods; the two ends of the expansion net are respectively fixedly connected or hinged to the two expansion plates; A guide plate is fixed on the parking platform, a guide groove is provided on the guide plate, and a guide column connected to the guide groove is provided on the connecting rod assembly; The bottom of the rotating motor is fixedly connected with an insertion shaft, and the movable plate is provided with a socket matched with the insertion shaft; the insertion shaft passes through the parking platform and is connected with the socket.

[0016] A guide rod is fixed on the movable plate, and the expansion plate is slidably connected to the guide plate.

[0017] Compared with the prior art, the present invention has the following beneficial effects: A drone moving mechanism is provided, and the drone does not need to land accurately; the drone is moved to the pre-clamping positioning mechanism by the drone moving mechanism to achieve preliminary position adjustment. The position of the drone is fine-tuned by the pre-clamping positioning mechanism to achieve final positioning. Finally, the drone at the pre-clamping positioning mechanism can be fixed by the fixing mechanism.

[0018] Through the above-mentioned structural setting, even if the drone does not land accurately at the fixing mechanism, it can still be positioned by the drone moving mechanism and the pre-clamping positioning mechanism. Therefore, the fixing device has low requirements on the landing accuracy of the drone, and it only needs to land in a certain area.

[0019] The structural setting of the extended platform can increase the landing range of the drone and reduce the possibility of the drone falling from the parking platform after landing.

[0020] The UAV mobile mechanism is provided with a driving rack, that is, the UAV mobile mechanism can control the action of the pre-clamping positioning mechanism. At the same time, the UAV mobile mechanism can expand or retract the expansion platform. Therefore, the UAV mobile mechanism not only has the function of driving the UAV to move, but also has multiple functions of driving the pre-clamping positioning mechanism and the expansion platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of one aspect of the present invention; Figure 2 It is a structural schematic diagram of another aspect of the present invention; Figure 3 yes Figure 2 A partial enlarged view of the middle A; Figure 4 It is a structural schematic diagram of another aspect of the present invention; Figure 5 yes Figure 4 A partial enlarged view of point B in the middle; Figure 6 It is a structural schematic diagram of the UAV mobile mechanism of the present invention; Figure 7 yes Figure 6 A partial enlarged view of point C in the middle; Figure 8 This is a schematic diagram of the use state of one direction of the present invention; Fig. 9 yes Figure 8 a side view of the structure shown; Fig.10 yes Figure 8 A front view of the structure shown; Among them: 1 is a parking platform, 2 is a pre-clamping positioning mechanism, 20 is a movable push plate, 21 is a forward and reverse screw, 22 is a driving gear, 23 is a driving rack, 24 is a rubber plate, 25 is a fixing bolt, 3 is a fixing mechanism, 4 is a UAV moving mechanism, 40 is a linear moving mechanism, 400 is a fixed part, 401 is a moving part, 41 is a rotating motor, 42 is a UAV tray, 43 is a telescopic cylinder, 44 is a rotating arm, 5 is a roller assembly, 50 is a roller frame, 51 is a roller, 6 is a landing gear, 7 is an extension platform, 70 is a moving plate, 71 is an extension plate, 72 is an extension net, 73 is a connecting rod assembly, 74 is a guide plate, 75 is a guide groove, 76 is a guide column, 77 is a plug shaft, 78 is a socket, and 79 is a guide rod. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0023] like Figure 1-10 As shown, a fixing device for an agricultural plant protection UAV includes a parking platform 1, a pre-clamping positioning mechanism 2, a fixing mechanism 3 and a UAV moving mechanism 4. The pre-clamping positioning mechanism 2, the fixing mechanism 3 and the UAV moving mechanism 4 are all arranged on the parking platform 1.

[0024] The drone is moved to the pre-clamping positioning mechanism 2 by the drone moving mechanism 4, and the position is adjusted by the pre-clamping positioning mechanism 2 to achieve final positioning. The drone at the pre-clamping positioning mechanism 2 is fixed by the fixing mechanism 3.

[0025] The pre-clamping positioning mechanism 2 includes a movable push plate 20 and a forward and reverse screw 21; the forward and reverse screw 21 is rotatably connected to the parking platform 1, and two movable push plates 20 are provided. The two movable push plates 20 are arranged opposite to each other and are threadedly connected to the forward and reverse screw 21, and the two movable push plates 20 are both slidably connected to the parking platform 1. When the forward and reverse screw 21 rotates forward and reverse, it drives the two movable push plates 20 to move away from each other or relative to each other.

[0026] A driving gear 22 is provided in the middle of the forward and reverse lead screw 21, and a driving rack 23 cooperating with the driving gear 22 is provided on the drone moving mechanism 4. That is, when the drone moving mechanism 4 moves, the forward and reverse lead screw 21 can be driven to rotate by the engagement of the driving rack 23 with the driving gear 22.

[0027] The use process is as follows: after the drone lands on the parking platform 1, specifically, it lands in the area on one side of the pre-clamping positioning mechanism 2. Then, the drone is moved to the pre-clamping positioning mechanism 2 by the drone moving mechanism 4; when the drone moving mechanism 4 moves toward the pre-clamping positioning mechanism 2, the driving rack 23 is engaged with the driving gear 22 to drive the forward and reverse lead screws 21 to rotate, so that the two movable push plates 20 move in opposite directions, and the distance between the two movable push plates 20 increases until the driving rack 23 is separated from the driving gear 22.

[0028] The drone moving mechanism 4 continues to move toward the pre-clamping positioning mechanism 2, and finally places the drone at the pre-clamping positioning mechanism 2. Afterwards, the drone moving mechanism 4 moves toward one side of the pre-clamping positioning mechanism 2, and drives the forward and reverse lead screws 21 to rotate in the opposite direction by meshing the driving rack 23 with the driving gear 22, so that the two movable push plates 20 move relative to each other, and the distance between the two movable push plates 20 decreases and contacts with the landing gear 8 of the drone, thereby pushing the landing gear 8 of the drone and the drone to move, until the driving rack 23 separates from the driving gear 22, and the final positioning is achieved.

[0029] Finally, the UAV at the pre-clamping positioning mechanism 2 can be fixed by the fixing mechanism 3. Specifically, the fixing mechanism 3 preferably adopts the corner cylinder in the prior art; the number of corner cylinders can be set according to the actual situation. For example, when two UAVs need to be parked, eight corner cylinders can be set, that is, each UAV corresponds to four corner cylinders.

[0030] In addition to the above-mentioned forward and reverse screws 21 to realize the movement of the movable push plate 20, an additional drive source can also be set: an electric cylinder, a cylinder, an oil cylinder or a servo cylinder to realize the movable push plate 20. When an additional drive source is set, the structural setting of the drive gear 22 and the drive rack 23 is removed.

[0031] Furthermore, the drone moving mechanism 4 includes a linear moving mechanism 40, a rotary motor 41 and a drone tray 42. The linear moving mechanism 40 preferably adopts a linear motor, wherein the fixed part 400 refers to the base, and the movable part refers to the mover seat.

[0032] The fixed part 400 of the linear moving mechanism 40 is fixedly connected to the parking platform 1, and the bottom of the housing of the rotating motor 41 is connected to the moving part 401 of the linear moving mechanism 40 through the telescopic cylinder 43. The two ends of the telescopic cylinder 43 are respectively fixedly connected to the housing of the rotating motor 41 and the moving part 401. The rotating motor 41 can be lifted by extending the piston rod of the telescopic cylinder 43.

[0033] The drone tray 42 is connected to the rotating shaft of the rotating motor 41 through the rotating arm 44; the driving rack 23 is fixed to the moving part 401 of the linear moving mechanism 40. The movement of the moving part 401 and the rotation of the output shaft of the rotating motor 41 can drive the rotating arm 44 and the drone tray 42 to move to the bottom of the drone.

[0034] When the drone is specifically landed in the area on one side of the pre-clamping positioning mechanism 2, the drone tray 42 is driven to move to the bottom of the drone by the moving part 401, and the rotating motor 41 and the drone are lifted by extending the piston rod. Finally, the drone is driven to move by the moving part 401, and the output shaft of the rotating motor 41 is rotated to move the drone to the pre-clamping positioning mechanism 2. After moving to the pre-clamping positioning mechanism 2, the drone is placed at the pre-clamping positioning mechanism 2 by retracting the piston rod of the telescopic cylinder 43.

[0035] Furthermore, in order to further increase the freedom of movement, the drone tray 42 can be moved more accurately to the bottom of the drone, and the rotating arm 44 is preferably a retractable structure; specifically, an electric retractable cylinder can be used.

[0036] Further, a roller assembly 5 is fixed on the parking platform 1, and the roller assembly 5 is located at the pre-clamping positioning mechanism 2. The roller assembly 5 includes a roller frame 50 and a roller 51, the roller frame 50 is fixedly connected to the parking platform 1, and the roller 51 is rotatably connected to the roller frame 50. The drone moving mechanism 4 can move the drone on the roller 51 to provide better support during movement.

[0037] Furthermore, a rubber plate 24 is fixed to the upper end of the movable push rod. The rubber plate 24 is fixedly connected to the movable push plate 20 via a fixing bolt 25 . The rubber plate 24 is provided with a corresponding waist-shaped hole.

[0038] The rubber plate 24 is used to contact the landing gear 8 to avoid accidental damage to the landing gear 8. A waist-shaped hole is provided to adjust the position of the rubber plate 24 relative to the movable push plate 20 to ensure that the two movable push plates 20 move relative to each other, and after the driving rack 23 and the driving gear 22 are separated, the two movable push plates 20 can just clamp the landing gear 8.

[0039] Furthermore, an extension platform 7 is provided on the parking platform 1; the drone on the extension platform 7 is moved to the pre-clamping positioning mechanism 2 by the drone moving mechanism 4. The landing area of ​​one side of the pre-clamping positioning mechanism 2 can be increased by the extension platform 7. The increase in the landing area can reduce the difficulty of landing and can effectively reduce the possibility of the drone falling due to a small landing area.

[0040] Furthermore, the expansion platform 7 can be deployed or retracted through the UAV moving mechanism 4 .

[0041] The expansion platform 7 includes a movable plate 70, an expansion plate 71 and an expansion net 72. The movable plate 70 is slidably connected to the parking platform 1. Two expansion plates 71 are provided. The two expansion plates 71 are respectively connected to the movable plate 70 through a connecting rod assembly 73. The connecting rod assembly 73 is composed of two hinged connecting rods; specifically: one end of the two connecting rods is respectively hinged to the expansion plate 71 and the movable plate 70; the other ends of the two connecting rods are hinged through a hinge shaft.

[0042] The two ends of the extension net 72 are fixedly connected or hinged to the two extension plates 71 respectively; the extension net 72 is preferably a flexible net; when the two extension plates 71 move relative to each other, it can be folded, and when the two extension plates 71 move away from each other, it can be unfolded.

[0043] A guide plate 74 is fixed on the parking platform 1, and a guide groove 75 is provided on the guide plate 74. A guide column 76 connected to the guide groove 75 is provided on the connecting rod assembly 73, and the guide column 76 is specifically fixed to the hinge shaft. When the moving plate 70 moves, the guide column 76 can be driven to move along the guide groove 75, so that the two expansion plates 71 move back to back and expand; or the two expansion plates 71 move relative to each other and retract.

[0044] An insertion shaft 77 is fixedly connected to the bottom of the rotating motor 41 , and a socket 78 matching with the insertion shaft 77 is provided on the movable plate 70 ; the insertion shaft 77 passes through the parking platform 1 and is connected to the socket 78 ; a corresponding through groove is provided on the parking platform 1 .

[0045] When the drone needs to be fixed, the moving part 401 drives the rotating motor 41 to move to the moving plate 70, and makes the insertion shaft 77 face the insertion hole 78. Then, the piston rod of the telescopic cylinder 43 is retracted to drive the insertion shaft 77 to move downward through the through slot and insert into the insertion hole 78. Finally, the moving part 401 drives the moving plate 70 to move, so that the two extensions move and move in opposite directions, thus realizing the expansion operation of the extension platform 7.

[0046] On the contrary, when the extension platform 7 needs to be retracted, after the insertion shaft 77 is plugged into the insertion hole 78 in the above manner, the moving plate 70 is driven to move in the opposite direction through the moving portion 401, so that the two extensions move in the opposite direction and move relative to each other.

[0047] It should be noted that after moving to the pre-clamping positioning mechanism 2, the piston rod of the telescopic cylinder 43 is retracted to place the drone at the pre-clamping positioning mechanism 2. The retraction amplitude of the piston rod of the telescopic cylinder 43 is smaller than the above amplitude, that is, the insertion shaft 77 is located above the parking platform 1.

[0048] Furthermore, in order to improve stability, a guide rod 79 is fixed on the movable plate 70 , and the expansion plate 71 is slidably connected to the guide plate 74 .

[0049] Only the preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the above embodiments.

Claims

1. A fixing device for an agricultural plant protection drone, characterized in that: The invention comprises a parking platform (1), a pre-clamping positioning mechanism (2), a fixing mechanism (3) and a UAV moving mechanism (4); the pre-clamping positioning mechanism (2), the fixing mechanism (3) and the UAV moving mechanism (4) are all arranged on the parking platform (1); the UAV at the pre-clamping positioning mechanism (2) is fixed by the fixing mechanism (3); and the UAV moving mechanism (4) is used to move the UAV to the pre-clamping positioning mechanism (2); The pre-clamping positioning mechanism (2) comprises a movable push plate (20) and a forward and reverse screw (21); the forward and reverse screw (21) is rotatably connected to the parking platform (1); two movable push plates (20) are provided, the two movable push plates (20) are arranged opposite to each other and are threadedly connected to the forward and reverse screw (21); and the two movable push plates (20) are both slidably connected to the parking platform (1); A driving gear (22) is provided in the middle of the forward and reverse lead screws (21), and a driving rack (23) cooperating with the driving gear (22) is provided on the drone moving mechanism (4).

2. The fixing device for an agricultural plant protection UAV according to claim 1, characterized in that: The drone moving mechanism (4) comprises a linear moving mechanism (40), a rotating motor (41) and a drone tray (42); the fixed portion (400) of the linear moving mechanism (40) is fixedly connected to the parking platform (1), and the bottom of the rotating motor (41) is connected to the moving portion (401) of the linear moving mechanism (40) via a telescopic cylinder (43); the drone tray (42) is connected to the rotating shaft of the rotating motor (41) via a rotating arm (44); and the driving rack (23) is fixed to the moving portion (401) of the linear moving mechanism (40).

3. The fixing device for an agricultural plant protection UAV according to claim 2, characterized in that: The rotating arm (44) is a telescopic structure; the fixing mechanism (3) adopts an angle cylinder.

4. The fixing device for an agricultural plant protection UAV according to claim 1, characterized in that: A roller assembly (5) is fixed on the parking platform (1), and the roller assembly (5) is located at the pre-clamping positioning mechanism (2).

5. The fixing device for an agricultural plant protection UAV according to claim 1, characterized in that: The roller assembly (5) comprises a roller frame (50) and a roller (51); the roller frame (50) is fixedly connected to the parking platform (1); and the roller (51) is rotatably connected to the roller frame (50).

6. The fixing device for an agricultural plant protection UAV according to claim 1, characterized in that: A rubber plate (24) is fixed to the upper end of the movable push rod. The rubber plate (24) and the movable push plate (20) are fixedly connected via fixing bolts (25). The rubber plate (24) is provided with corresponding waist-shaped holes.

7. The fixing device for an agricultural plant protection UAV according to claim 2, characterized in that: An expansion platform (7) is also provided on the parking platform (1); the drone on the expansion platform (7) is moved to the pre-clamping positioning mechanism (2) via the drone moving mechanism (4).

8. The fixing device for an agricultural plant protection UAV according to claim 7, characterized in that: The expansion platform (7) can be deployed or retracted via the drone moving mechanism (4).

9. The fixing device for an agricultural plant protection UAV according to claim 7 or 8, characterized in that: The expansion platform (7) comprises a movable plate (70), an expansion plate (71) and an expansion net (72); the movable plate (70) is slidably connected to the parking platform (1); two expansion plates (71) are provided; the two expansion plates (71) are respectively connected to the movable plate (70) via a connecting rod assembly (73); the connecting rod assembly (73) is composed of two hinged connecting rods; the two ends of the expansion net (72) are respectively fixedly connected or hinged to the two expansion plates (71); A guide plate (74) is fixed on the parking platform (1), a guide groove (75) is provided on the guide plate (74), and a guide column (76) connected to the guide groove (75) is provided on the connecting rod assembly (73); The bottom of the rotating motor (41) is fixedly connected to an insertion shaft (77), and the movable plate (70) is provided with a plug hole (78) that cooperates with the insertion shaft (77); the insertion shaft (77) passes through the parking platform (1) and is connected to the plug hole (78).

10. The fixing device for an agricultural plant protection UAV according to claim 9, characterized in that: A guide rod (79) is fixed on the movable plate (70), and the expansion plate (71) is slidably connected to the guide plate (74).

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