Self-adaptive multi-mode unmanned aerial vehicle stopping device

Abstract

The invention relates to a self-adaptive multi-mode unmanned aerial vehicle stopping device which comprises a V-shaped pulling plate, an asymmetric bistable driving mechanism, a push rod, an inverted V-shaped supporting plate and a fixing assembly. The asymmetric bistable driving mechanism comprises a Y-shaped sheet, three movable ends of the Y-shaped sheet are respectively mounted on the fixing assembly and are extruded into a dome structure, the Y-shaped sheet only has two stable states, namely a first stable state and a second stable state, and the Y-shaped sheet has a trend of changing from the second stable state to the first stable state; the V-shaped pulling plate and the V-shaped supporting plate are both of foldable structures, the two movable ends of the V-shaped pulling plate are connected with the two movable ends of the V-shaped supporting plate respectively to form a quadrilateral adjustable hole, the folding position of the V-shaped supporting plate is installed on the fixing assembly, one end of the push rod is connected with the folding position of the V-shaped pulling plate, and the other end of the push rod is connected with the center end of the Y-shaped sheet. Compared with the prior art, the method has the advantages that the self-adaptive capability of the parking scene is high, the driving structure responds quickly, and the parking structure is reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of variable structure robots, and in particular to an adaptive multi-modal unmanned aerial vehicle (UAV) stopping device and method. Background Art

[0002] In recent years, with the increasing use of drones in complex environments, achieving safe and stable interaction with heterogeneous structures has become a hot topic in current research and engineering practice. In particular, drones often require rapid and reliable resting capabilities to perform tasks such as environmental monitoring, state identification, and energy resupply, placing higher demands on their structural adaptability and resting mechanisms.

[0003] At present, drones usually rely on traditional mechanical drive systems to achieve stable stopping in narrow spaces such as pipelines. Such systems often use motors and complex mechanical structures to drive them in a coordinated manner.

[0004] For example, the invention with publication number CN115675838A discloses a dual-arm perching drone and an adaptive take-off, landing, and perching method. The left and right perching arms are each connected to the center shaft of a quadcopter drone system. The four rotor modules of the quadcopter drone system are mounted on the cantilever ends of the left forearm, right forearm, left rear arm, and right rear arm of the frame, respectively, with the centerlines of the left and right forearms forming a 120° angle with the centerline of the center shaft. The left and right rear arms are mounted on the other end of the center shaft via a rear three-way connector on the frame, with the centerlines of the left and right rear arms forming a 120° angle with the centerline of the center shaft.

[0005] However, the motor itself is heavy and bulky, which significantly limits the maneuverability and deployment flexibility of the drone in a limited space. At the same time, the traditional drive structure lags in response speed and shape transformation capability, making it difficult to adapt to changing and complex environmental requirements.

[0006] Therefore, under the premise of meeting the constraints of lightweight and compactness, how to achieve a structural mechanism with rapid response capability, precise stop control and high environmental adaptability has become a key issue in improving the comprehensive performance of UAVs in complex scenarios. It has important research value and broad engineering application prospects. Summary of the Invention

[0007] The purpose of the present invention is to provide an adaptive multi-modal drone parking device in order to overcome the defects of the above-mentioned prior art drone docking structure in terms of weight, volume and response speed.

[0008] The purpose of the present invention can be achieved by the following technical solutions:

[0009] This solution provides an adaptive multi-modal UAV parking device, comprising a V-shaped pull plate, an asymmetric bistable drive mechanism, a push rod, an inverted V-shaped support plate, and a fixing assembly;

[0010] The asymmetric bistable drive mechanism includes a Y-shaped sheet, wherein the three movable ends of the Y-shaped sheet are respectively mounted on a fixed assembly and are extruded into a dome structure. The Y-shaped sheet has only two stable states: a first stable state and a second stable state, and the Y-shaped sheet has a tendency to transition from the second stable state to the first stable state.

[0011] The V-shaped pull plate and the V-shaped support plate are both foldable structures. The two movable ends of the V-shaped pull plate are respectively connected to the two movable ends of the V-shaped support plate to form a quadrilateral adjustable hole. The folded part of the V-shaped support plate is installed on the fixed component. One end of the push rod is connected to the folded part of the V-shaped pull plate, and the other end is connected to the center end of the Y-shaped sheet.

[0012] Preferably, the Y-shaped sheet is in a first stable state when its center end is at the top, and is in a second stable state when its center end is at the bottom; when the Y-shaped sheet is in the first stable state, the V-shaped support plate is in an expanded state, and when the Y-shaped sheet is in the second stable state, the V-shaped support plate is in a closed state.

[0013] Preferably, the Y-shaped sheet includes an integrated first leg, a second leg and a third leg, and the first leg, the second leg and the third leg are all trapezoidal structures, and the angles between them are equal.

[0014] Preferably, the V-shaped pull plate includes a first side pull plate and a second side pull plate connected to each other, and the V-shaped support plate includes a first side support plate and a second side support plate connected to each other; the movable end of the first side pull plate is connected to one end of the first side support plate close to the bend, and the movable end of the second side pull plate is connected to one end of the second side support plate close to the bend, and the adjustable hole is a diamond structure.

[0015] Preferably, the V-shaped pull plate and the V-shaped support plate are both sandwich-type flexible laminate structures, and the sandwich-type flexible laminate structure includes a film, an epoxy resin sheet and a pressure-sensitive adhesive transfer tape. There are multiple epoxy resin sheets, which are symmetrically fixed on both sides of the film by the pressure-sensitive adhesive transfer tape.

[0016] Preferably, friction components are respectively provided at the two movable ends of the V-shaped support plate. The friction components have the same structure as the V-shaped support plate. One side of the friction component can be folded and fixed to the interactive end of the V-shaped support plate, and the other side is provided with an acrylic double-sided tape strip.

[0017] Preferably, the fixing assembly includes an A-shaped bracket and a circular frame, the A-shaped bracket is vertically fixed to the circular frame, the folded part of the V-shaped support plate is fixed to the top of the A-shaped bracket, and the Y-shaped sheet is fixed to the circular frame.

[0018] Preferably, the annular frame is provided with a fixing buckle, and each movable end of the Y-shaped sheet is fixed to the annular frame via the fixing buckle.

[0019] Preferably, the material of the A-shaped bracket is carbon fiber reinforced polylactic acid, and the material of the annular frame is glass fiber reinforced polylactic acid.

[0020] Preferably, the material of the Y-shaped sheet is aromatic polyimide, and the material of the push rod is light-curing resin.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] (1) This solution uses a Y-shaped sheet with two asymmetric stable structures as a driving mechanism. It utilizes the deformation tendency of the Y-shaped sheet between the two stable states to push the push rod to move, driving the V-shaped pull plate to unfold, so that the two ends of the V-shaped support plate gradually open and rest on the object. Based on the deformation of the Y-shaped sheet, a continuous force is provided to the V-shaped support plate, so that it can be stuck between objects to form support for the drone. The unfolding of the V-shaped support plate can automatically adapt to pipes, walls, holes of different sizes or branches at different distances. It has strong adaptability and is suitable for a variety of occasions, meeting the docking needs of drones in complex space environments.

[0023] (2) The asymmetric bistable drive mechanism proposed in this scheme is lightweight and highly integrated. The drive unit uses high-efficiency elastic materials to replace the traditional motor system, which significantly reduces the structural weight and volume, providing greater performance optimization space for UAVs that are sensitive to load and space constraints.

[0024] (3) In this scheme, the Y-shaped sheet can quickly drive the V-shaped support plate by switching from a weak steady state to a strong steady state, based on the specific dome structure and high elastic deformation. The drive mechanism has a fast response capability and can complete the drive state switching in a short time, thereby realizing the efficient deployment and retraction of the foldable support structure and the mounting mechanism, improving the system's adaptability in task switching and dynamic environments.

[0025] (4) The driving mechanism in this scheme has a simple structure and a high degree of modularity. Combined with simple transmission and support mechanisms, it is easy to integrate and maintain in different platforms. Its shape and size have good adjustability and can be adapted to different types of drones. In addition, it can be expanded to various types of deformable structures such as fixture drive and soft robot actuators, and has good versatility and promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic structural diagram of the first perspective of the stop device provided by the present invention;

[0027] Figure 2 A schematic structural diagram of the second viewing angle of the pause device provided by the present invention;

[0028] Figure 3 A schematic structural diagram of the first stable state of the asymmetric bistable drive mechanism provided by the present invention;

[0029] Figure 4 A schematic structural diagram of the asymmetric bistable drive mechanism provided by the present invention in the second stable state and the first viewing angle;

[0030] Figure 5 A schematic structural diagram of the asymmetric bistable drive mechanism provided by the present invention in the second stable state and the second viewing angle;

[0031] Figure 6 A schematic diagram of the structure of the connection between the V-shaped pull plate and the V-shaped support plate provided by the present invention;

[0032] In the figure: 1. V-shaped pull plate, 2. asymmetric bistable drive mechanism, 3. push rod, 4. inverted V-shaped support plate, 5. A-shaped bracket, 6. circular frame, 7. fixing buckle, 11. first side pull plate, 12. second side pull plate, 21. Y-shaped sheet, 41. first side support plate, 42. second side support plate, 61. film, 62. epoxy resin sheet, 63. pressure-sensitive adhesive transfer tape, 64. acrylic double-sided tape strip. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0034] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort shall fall within the scope of protection of the present invention.

[0035] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0036] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0037] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0038] Furthermore, terms such as "horizontal" and "vertical" do not necessarily mean that a component must be absolutely horizontal or overhanging, but rather that it 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 rather that it can be slightly tilted.

[0039] Example 1

[0040] like Figure 1-2 As shown, this embodiment provides an adaptive multi-modal UAV parking device, characterized by comprising a V-shaped pull plate 1, an asymmetric bistable drive mechanism 2, a push rod 3, an inverted V-shaped support plate 4 and a fixing assembly;

[0041] The asymmetric bistable drive mechanism 2 includes a Y-shaped sheet 21. The three movable ends of the Y-shaped sheet 21 are respectively mounted on the fixed assembly and are extruded into a dome structure. The Y-shaped sheet 21 has only two stable states: a first stable state and a second stable state. The Y-shaped sheet 21 has a tendency to transition from the second stable state to the first stable state.

[0042] The V-shaped pull plate 1 and the V-shaped support plate 4 are both foldable structures. The two movable ends of the V-shaped pull plate 1 are respectively connected to the two movable ends of the V-shaped support plate 4 to form a quadrilateral adjustable hole. The folding part of the V-shaped support plate 4 is installed on the fixed component. One end of the push rod 3 is connected to the folding part of the V-shaped pull plate 1, and the other end is connected to the center end of the Y-shaped sheet 21.

[0043] Working principle: When the Y-shaped sheet 21 changes from the second stable state to the first stable state, a thrust is generated on the push rod 3, and the push rod 3 drives the V-shaped pull plate 1 to unfold, thereby unfolding the two ends of the V-shaped support plate 4. The distance between the two ends of the V-shaped support plate 4 gradually increases until its two ends contact the object, adapting to the distance of the resting object, and under the deformation trend of the Y-shaped sheet 21, a maintaining force is provided for the unfolding of the V-shaped support plate 4, ensuring that the V-shaped support plate 4 can reliably rest on the resting object.

[0044] The Y-shaped sheet 21, which has two asymmetric stable structures, serves as a driving mechanism. The deformation tendency of the Y-shaped sheet 21 between the two stable states is exploited to push the push rod 3, driving the V-shaped pull plate 1 to unfold, gradually opening the two ends of the V-shaped support plate 4. Both ends rest against the object, and the deformation of the Y-shaped sheet 21 provides a continuous force for the V-shaped support plate 4, allowing it to be stuck between objects and provide support for the drone. The unfolding of the V-shaped support plate 4 can automatically adapt to pipes, walls, holes of different sizes, or branches at different distances. Its strong adaptability makes it suitable for a variety of occasions and meets the needs of drone docking in complex spatial environments.

[0045] Preferred embodiment, as Figure 3-5 As shown, when the center end of the Y-shaped sheet 21 is at the top, it is in the first stable state, and when the center end of the Y-shaped sheet 21 is at the bottom, it is in the second stable state; when the Y-shaped sheet 21 is in the first stable state, the V-shaped support plate 4 is in the expanded state, and when the Y-shaped sheet 21 is in the second stable state, the V-shaped support plate 4 is in the closed state.

[0046] Under normal conditions, the center end of the Y-shaped sheet 21 is located at the bottom, that is, it is in a relatively weak second stable state. At this time, the push rod 3 pulls the V-shaped pull plate 1 downward, causing the V-shaped support plate 4 to close downward, and the two movable ends are in a small diameter state. Under the action of an external driving force, the second stable state of the Y-shaped sheet 21 is destroyed. Due to the high elasticity of the Y-shaped sheet 21, it transitions to the first stable state, that is, the center end of the Y-shaped sheet 21 moves toward the top, and the push rod 3 pushes the V-shaped pull plate 1, causing the V-shaped support plate 4 to gradually unfold. When the two movable ends of the V-shaped support plate 4 contact the resting object, the non-stable transition trend of the Y-shaped sheet 21 generates a continuous thrust on the push rod 3, thereby causing the movable ends of the V-shaped support plate 4 to reliably rest against the resting object.

[0047] The Y-shaped sheet's weak steady-state to strong steady-state transition, based on its specific dome structure and high elastic deformation, can quickly drive the V-shaped support plate. The drive mechanism has a fast response capability and can complete the drive state switch in a short time, thereby achieving efficient deployment and retraction of the foldable support structure and mounting mechanism, improving the system's adaptability in task switching and dynamic environments.

[0048] In this embodiment, the Y-shaped sheet 21 includes an integrated first leg, a second leg, and a third leg. The first leg, the second leg, and the third leg are all trapezoidal structures, and the angles between any two of them are equal.

[0049] In this embodiment, Figure 5 As shown, the V-shaped pull plate 1 includes a first side pull plate 11 and a second side pull plate 12 connected to each other, and the V-shaped support plate 4 includes a first side support plate 41 and a second side support plate 42 connected to each other; the movable end of the first side pull plate 11 is connected to one end of the first side support plate 41 near the bending part, and the movable end of the second side pull plate 12 is connected to one end of the second side support plate 42 near the bending part, and the adjustable hole is a diamond structure.

[0050] In this embodiment, the V-shaped pull plate 1 and the V-shaped support plate 4 are both sandwich-type flexible laminate structures, which include a film 61, an epoxy resin sheet 62 and a pressure-sensitive adhesive transfer tape 63. There are multiple epoxy resin sheets 62, which are symmetrically fixed on both sides of the film 61 by the pressure-sensitive adhesive transfer tape 63.

[0051] In this embodiment, friction components are respectively provided at the two movable ends of the V-shaped support plate 4. The friction components have the same structure as the V-shaped support plate 4. One side of the friction component can be folded and fixed to the interactive end of the V-shaped support plate 4, and the other side is provided with an acrylic double-sided tape strip 64.

[0052] In this embodiment, the fixing assembly includes an A-shaped bracket 5 and a circular frame 6. The A-shaped bracket 5 is vertically fixed to the circular frame 6, the folded portion of the V-shaped support plate 4 is fixed to the top of the A-shaped bracket 5, and the Y-shaped sheet 21 is fixed to the circular frame 6. The A-shaped bracket 5 is mounted on the circular frame 6 and is coaxially arranged with its center of symmetry. The upper end of the A-shaped bracket 5 is a flat-top structure that cooperates with the folded portion of the V-shaped support plate 4. The folded portion of the V-shaped support plate 4 is installed above the flat-top structure and does not affect the normal folding action of the V-shaped support plate 4. A guide hole is provided on the middle bracket of the A-shaped bracket 5, and the push rod 3 can slide through the guide hole to reliably transmit the deformation displacement of the Y-shaped sheet 21 to the V-shaped pull plate 1.

[0053] The circular frame 6 is provided with fixing clips 7, through which the movable ends of the Y-shaped sheet 21 are fixed to the circular frame 6. The A-shaped bracket 5 is made of carbon fiber-reinforced polylactic acid, while the circular frame 6 is made of glass fiber-reinforced polylactic acid. The Y-shaped sheet 21 is made of aromatic polyimide, and the push rod 3 is made of light-curing resin.

[0054] In combination with the above preferred embodiments, Figure 1-6As shown, this embodiment also provides a more specific adaptive multi-modal UAV resting device, which is mainly composed of a rigid main support structure, an asymmetric bistable dome drive mechanism, and a foldable support and mounting mechanism.

[0055] The rigid main support structure consists of a nylon base, a carbon fiber-reinforced polylactic acid (PLA-CF) support, a light-curing resin push rod, and a light-curing resin push rod connecting clip. This support structure is used for structural integration and assembly with the asymmetric bistable dome drive device and the foldable support and mounting mechanism, thereby achieving a multimodal rest function.

[0056] The asymmetric bistable dome drive mechanism consists of a circular glass fiber reinforced polylactic acid (PLA-GF) frame, a Y-shaped aromatic polyimide (KAPTON) sheet, and three polylactic acid (PLA) fixing buckles for angle locking.

[0057] The asymmetric bistable dome drive mechanism secures a Y-shaped aromatic polyimide (Kapton) sheet to a circular glass fiber reinforced polylactic acid (PLA-GF) frame using three PLA clips for angle locking. When subjected to external compression and boundary angle constraints, the sheet forms an asymmetric bistable geometric structure, exhibiting both strong and weak stability states.

[0058] Under the action of the applied driving force, the asymmetric bistable dome drive mechanism transitions from a weak steady state to a strong steady state, generating a sudden deformation output, pushing the photocurable resin push rod to move in a predetermined direction, and then driving the foldable support and mounting mechanism to complete the deployment operation, realizing a stable stop function for multimodal mission environments.

[0059] It is understandable that the force that drives the asymmetric bistable dome drive mechanism to undergo a sudden change in stable state can be triggered by various driving methods such as external environmental extrusion, steering gear push, etc., which will not be described in detail in this application. Suitable, a nylon base can be set at the bottom of the annular frame to install the trigger mechanism.

[0060] The foldable support and mounting mechanism is composed of a polyethylene terephthalate (PET) film, a glass fiber reinforced epoxy resin (FR4) sheet, and an acrylic pressure-sensitive adhesive transfer tape (3M TM 467MP) and a piece of acrylic double-sided tape; through two layers of acrylic pressure-sensitive adhesive transfer tape (3M TM467MP) by attaching two layers of glass fiber reinforced epoxy resin (FR4) sheets to the upper and lower sides of polyethylene terephthalate (PET) film, forming a sandwich-style flexible laminate structure. In addition, a strip of acrylic double-sided tape is attached to the outer end of the FR4 sheet to enhance the friction of the structure on the attachment surface, thereby improving stability during support and mounting.

[0061] The principle of the foldable support and mounting mechanism can be briefly described as follows: when the asymmetric bistable dome drive device is in a strong stable state, the photocurable resin push rod is pushed upward, thereby lifting the foldable support and mounting mechanism, realizing the structural deployment and stable resting functions; and when the drive device is in a weak stable state, the push rod is driven downward, thereby pulling the support structure to retract, completing the withdrawal process of the resting structure, and enabling the UAV to take off smoothly.

[0062] The drive unit utilizes high-efficiency elastic materials instead of traditional motor systems, significantly reducing structural weight and volume. This provides greater scope for performance optimization for drones sensitive to payload and space constraints. The drive mechanism's simple structure and high degree of modularity facilitate integration and maintenance across various platforms. Its shape and size offer excellent adjustability, allowing for adaptable designs to suit different drone models. Furthermore, it can be expanded to various deformable structures, such as gripper actuation and soft robotic actuators, demonstrating its versatility and potential for widespread adoption.

[0063] The above describes in detail the preferred embodiments of the present invention. It should be understood that those skilled in the art can make numerous modifications and variations based on the concepts of the present invention without inventive effort. Therefore, any technical solutions that can be derived by those skilled in the art through logical analysis, reasoning, or limited experimentation based on the concepts of the present invention and the prior art should be within the scope of protection defined by the claims.

Claims

1. An adaptive multi-modal UAV parking device, characterized in that: It comprises a V-shaped pull plate (1), an asymmetric bistable drive mechanism (2), a push rod (3), an inverted V-shaped support plate (4) and a fixing assembly; The asymmetric bistable drive mechanism (2) comprises a Y-shaped sheet (21), three movable ends of the Y-shaped sheet (21) are respectively mounted on a fixed assembly and are extruded into a dome structure, the Y-shaped sheet (21) has only two stable states, a first stable state and a second stable state, and the Y-shaped sheet (21) has a tendency to transition from the second stable state to the first stable state; The V-shaped pull plate (1) and the V-shaped support plate (4) are both foldable structures. The two movable ends of the V-shaped pull plate (1) are respectively connected to the two movable ends of the V-shaped support plate (4) to form a quadrilateral adjustable hole. The folded portion of the V-shaped support plate (4) is installed on the fixed component. One end of the push rod (3) is connected to the folded portion of the V-shaped pull plate (1), and the other end is connected to the center end of the Y-shaped sheet (21).

2. The adaptive multi-modal UAV parking device according to claim 1, characterized in that: When the center end of the Y-shaped sheet (21) is located at the top, it is in a first stable state; when the center end of the Y-shaped sheet (21) is located at the bottom, it is in a second stable state; when the Y-shaped sheet (21) is in the first stable state, the V-shaped support plate (4) is in an expanded state; when the Y-shaped sheet (21) is in the second stable state, the V-shaped support plate (4) is in a closed state.

3. The adaptive multi-modal UAV parking device according to claim 1, characterized in that: The Y-shaped sheet (21) comprises an integrated first leg, a second leg and a third leg, wherein the first leg, the second leg and the third leg are all trapezoidal structures, and the angles between the first leg, the second leg and the third leg are equal.

4. The adaptive multi-modal UAV parking device according to claim 1, characterized in that: The V-shaped pull plate (1) comprises a first side pull plate (11) and a second side pull plate (12) connected to each other, and the V-shaped support plate (4) comprises a first side support plate (41) and a second side support plate (42) connected to each other; the movable end of the first side pull plate (11) is connected to one end of the first side support plate (41) close to the bend, and the movable end of the second side pull plate (12) is connected to one end of the second side support plate (42) close to the bend, and the adjustable hole is a diamond structure.

5. The adaptive multi-modal UAV parking device according to claim 1, characterized in that: The V-shaped pull plate (1) and the V-shaped support plate (4) are both sandwich-type flexible laminate structures, and the sandwich-type flexible laminate structure includes a film (61), an epoxy resin sheet (62) and a pressure-sensitive adhesive transfer tape (63). The epoxy resin sheets (62) are multiple in number and are symmetrically fixed on both sides of the film (61) by the pressure-sensitive adhesive transfer tape (63).

6. The adaptive multi-modal UAV parking device according to claim 5, characterized in that: The two movable ends of the V-shaped support plate (4) are respectively provided with friction components, and the friction components have the same structure as the V-shaped support plate (4). One side of the friction component can be folded and fixed to the interactive end of the V-shaped support plate (4), and the other side is provided with an acrylic double-sided tape strip (64).

7. The adaptive multi-modal UAV parking device according to claim 1, characterized in that: The fixing assembly comprises an A-shaped bracket (5) and a circular frame (6), wherein the A-shaped bracket (5) is vertically fixed to the circular frame (6), the folded portion of the V-shaped support plate (4) is fixed to the top of the A-shaped bracket (5), and the Y-shaped sheet (21) is fixed to the circular frame (6).

8. The adaptive multi-modal UAV parking device according to claim 7, characterized in that: The annular frame (6) is provided with a fixing buckle (7), and each movable end of the Y-shaped sheet (21) is fixed to the annular frame (6) via the fixing buckle (7).

9. The adaptive multi-modal UAV parking device according to claim 7, characterized in that: The material of the A-shaped bracket (5) is carbon fiber reinforced polylactic acid, and the material of the annular frame (6) is glass fiber reinforced polylactic acid.

10. The adaptive multi-modal UAV parking device according to claim 1, characterized in that: The material of the Y-shaped sheet (21) is aromatic polyimide, and the material of the push rod (3) is light-curing resin.

Images