Unmanned aerial vehicle centering and locking platform and control method

Abstract

The invention discloses an unmanned aerial vehicle centering and locking platform and a control method, and belongs to the technical field of low-altitude economy and intelligent carriers. The platform comprises a platform body, a centering mechanism and a locking mechanism. The centering mechanism comprises an X-direction horizontal lead screw transmission unit and a Y-direction horizontal lead screw transmission unit, and the locking mechanism comprises a vertical lead screw transmission unit and a connecting rod pressing mechanism. The core is that a single direct current motor is adopted to drive a one-inlet five-outlet speed reducer, and power is selectively distributed to the transmission units in the three directions through five normally-open jaw electromagnetic clutches. According to the self-locking device, centering and locking are achieved through transmission of the trapezoidal lead screw, and the self-locking device has the advantages of being good in self-locking performance and high in rigidity; through cooperative control of a single motor and multiple clutches, X-direction centering, Y-direction centering and final locking of the unmanned aerial vehicle on the platform can be completed in sequence only through one driving link, the mechanical structure is simplified, the cost and weight are reduced, and the reliability and impact resistance of the system are improved.

Description

Technical Field

[0001] This invention relates to the field of low-altitude economy and intelligent vehicle technology, specifically to a drone centering and locking platform and control method for a vehicle-drone collaborative system. Background Technology

[0002] With the development of the low-altitude economy, the integration of drones and vehicles has become an important trend, forming a collaborative mobile system. In this system, ensuring that drones are securely stored during vehicle movement and can be quickly and accurately released when needed is one of the core technical challenges. Existing drone storage and locking platforms mostly use synchronous belt drives, which suffer from low rigidity, poor impact resistance, and lack of self-locking functionality. Furthermore, most platforms require separate drive sources (prime motors) for the X-axis centering, Y-axis centering, and locking actions, resulting in complex system structures, high costs, and cumbersome control.

[0003] Therefore, there is an urgent need to design a UAV centering and locking platform and control method that has strong structural rigidity, self-locking capability, and can drive multiple actions with a single power source. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a UAV centering and locking platform and control method. The device adopts a drive scheme of trapezoidal screw drive and single motor combined with multi-way clutch, which solves the problems of insufficient rigidity, lack of self-locking and complex structure caused by the need for multiple prime movers in the existing platform.

[0005] To address this, the present invention proposes a drone centering and locking platform, comprising a platform, a centering mechanism, and a locking mechanism. The platform has a groove at its center that matches the shape of the drone's base.

[0006] The centering mechanism includes an X-axis centering component arranged along the X-axis on the back of the platform and a Y-axis centering component arranged along the Y-axis, both having the same structural form; each centering component includes a horizontal lead screw drive unit and a pair of push rods connected to the horizontal lead screw drive unit and passing through the platform to the front; the locking mechanism includes a vertical lead screw drive unit disposed on the back of the platform and a connecting rod clamping mechanism connected to the vertical lead screw drive unit; The platform also has a DC motor, a one-in-five-out reducer, and five normally open dog clutches on its back. The output end of the DC motor is connected to the input end of the one-in-five-out reducer. The five output shafts of the one-in-five-out reducer are respectively connected to the two power input ends of the X-direction centering component, the two power input ends of the Y-direction centering component, and one power input end of the locking mechanism through one of the normally open dog clutches.

[0007] Preferably, the horizontal lead screw transmission unit includes a single-input double-output reducer, a horizontal left-hand trapezoidal lead screw, a horizontal right-hand trapezoidal lead screw, a horizontal guide shaft, a slider, and a bearing housing; the input end of the single-input double-output reducer is connected to the corresponding normally open jaw-type electromagnetic clutch via a coupling and connecting rod; its two output ends are respectively connected to one end of the horizontal left-hand trapezoidal lead screw and the horizontal right-hand trapezoidal lead screw via couplings; the other end of the lead screw is supported in the bearing housing; the horizontal guide shaft is arranged parallel to the lead screw; the slider is fitted with a nut that mates with the lead screw and a linear bearing that mates with the horizontal guide shaft; a pair of push rods are fixedly connected to the two corresponding sliders via a connecting plate.

[0008] Preferably, the vertical lead screw transmission unit includes a vertical trapezoidal lead screw, a slide, and a vertical guide shaft; the vertical trapezoidal lead screw is connected to the output shaft of the one-in-five-out reducer via a corresponding normally open jaw-type electromagnetic clutch; the slide is fitted with a nut that mates with the vertical trapezoidal lead screw and a linear bearing that mates with the vertical guide shaft.

[0009] Preferably, the linkage clamping mechanism includes a first linkage, a second linkage, a third linkage, and a pressure block that are sequentially hinged to form a four-bar linkage; the third linkage is fixedly connected to the side wall of the platform, and the first linkage is fixedly connected to the slide; when the slide moves in the vertical direction, it drives the four-bar linkage to move, causing the pressure block to switch between the side and top positions of the drone base, thereby achieving unlocking and locking.

[0010] Preferably, it also includes a sensor for detecting the centering and locking positions.

[0011] The present invention also provides a control method based on the above-mentioned platform, including a collapsing process and an unfolding process: The retraction process is as follows: the electromagnetic clutches in the X-axis and Y-axis directions are sequentially controlled to engage, driving the corresponding push rods to perform the centering action; after centering is completed, the electromagnetic clutch in the Z-axis (vertical) direction is controlled to engage, driving the locking mechanism to perform the locking action. The unfolding process is as follows: the electromagnetic clutches in the Z-axis, Y-axis and X-axis directions are sequentially controlled to engage, driving the locking mechanism, Y-axis push rod and X-axis push rod to perform release or unfolding actions.

[0012] The beneficial effects of this invention are reflected in: 1. This invention uses a trapezoidal screw drive instead of the traditional synchronous belt drive, which has the advantages of good self-locking, high rigidity, and strong impact resistance, ensuring stable locking of the UAV under high-speed vehicle travel or bumpy road conditions. 2. This invention innovatively adopts a power distribution scheme using a single DC motor combined with a one-in-five-out reducer and multiple normally open jaw-type electromagnetic clutches. Only one prime mover is needed to selectively achieve X-axis centering, Y-axis centering, and locking actions through circuit control. This greatly simplifies the mechanical structure, reduces manufacturing costs, weight, and control complexity, and improves system reliability. 3. Through a preset control process, fully automated sequential operation of UAV loading and unloading is achieved, with high efficiency and high precision.

[0013] In addition to the purposes, features, and advantages described above, this application has other purposes, features, and advantages. A further detailed description of this application will be provided below with reference to the figures. Attached Figure Description

[0014] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a flowchart of the convergence control process of the UAV centering and locking platform of the present invention; Figure 2 This is a flowchart of the deployment control of the UAV centering and locking platform of the present invention; Figure 3 This is a three-dimensional schematic diagram of the UAV centering and locking platform of the present invention in the deployed state; Figure 4 This is a three-dimensional schematic diagram of the UAV centering and locking platform of the present invention in a retracted (locked) state; Figure 5 This is a structural diagram of the back of the UAV centering and locking platform of the present invention (showing the drive and transmission mechanism). Figure 6 This is a partial structural diagram of the locking mechanism of the present invention in the locked state (hidden platform skin). Figure 7 This is a partial structural diagram of the locking mechanism of the present invention in the unlocked state (hiding the platform skin). Figure 8 This is a partial structural diagram of the vertical trapezoidal lead screw and the slide block of the present invention.

[0015] Explanation of reference numerals in the attached diagram: 1. Platform; 2. DC motor; 3. One-in-five-out reducer; 4. Electromagnetic clutch; 5. Adapter; 6. Drive shaft; 7. Coupling; 8. One-in-two-out reducer; 9. Horizontal left-handed trapezoidal lead screw; 10. Horizontal right-handed trapezoidal lead screw; 11. Horizontal guide shaft; 12. Slider; 13. Connecting plate; 14. Bearing seat; 15. X-axis push rod; 16. Y-axis push rod; 17. Vertical trapezoidal lead screw; 18. Slide seat; 19. Vertical guide shaft; 20. Link clamping mechanism; 201. Link 1; 202. Link 2; 203. Link 3; 204. Pressure block; 21. Sensor; 22. UAV base. Detailed Implementation

[0016] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] like Figures 3-8 As shown, the drone centering and locking platform of the present invention mainly includes a platform 1, a centering mechanism and a locking mechanism. A groove matching the shape of the drone base 22 is provided at the center of the platform 1. The centering mechanism has an X-axis centering mechanism and a Y-axis centering mechanism with the same structure, which correspond to the X-axis push rod 15 and the Y-axis push rod 16 located on the front of the platform 1. The two are staggered in the vertical direction to avoid motion interference.

[0018] like Figure 5 As shown, the drive unit is integrated on the back of platform 1. The adapter 5 is fixed to platform 1, and the one-in-five-out reducer 3 is mounted on the adapter 5. The DC motor 2 is connected to the input port of the one-in-five-out reducer 3. Each of the five output shafts of the reducer is connected to a normally open jaw-type electromagnetic clutch 4. Four of the electromagnetic clutches 4 are connected to the input shafts of two one-in-two-out reducers 8 (two in the X and Y directions) respectively via drive shaft 6 and coupling 7, and the last electromagnetic clutch 4 is directly connected to the vertical trapezoidal lead screw 17.

[0019] The centering assembly in the X-axis direction (similar in the Y-axis direction) includes: a single-input, double-output reducer 8, whose two output ends are connected to a horizontal left-handed trapezoidal lead screw 9 and a horizontal right-handed trapezoidal lead screw 10 respectively via couplings 7. The two lead screws are parallel, and their other ends are supported by bearing seats 14. A horizontal guide shaft 11 is provided parallel to the lead screws. Two sliders 12 are respectively engaged with the two lead screws and are slidably mounted on the horizontal guide shaft 11. The two sliders 12 are fixed to both ends of an X-direction push rod 15 (or Y-direction push rod 16) on the front of the platform via connecting plates 13. When the horizontal left-handed trapezoidal lead screw 9 and the horizontal right-handed trapezoidal lead screw 10 rotate synchronously, the two sliders 12 move towards or away from each other, thereby driving the X-direction push rod 15 and the Y-direction push rod 16 to perform clamping centering or releasing deployment actions.

[0020] A pair of X-axis push rods 15 are located on the front of platform 1, and each X-axis push rod 15 is fixedly connected to two symmetrical sliders 12 at both ends by a pair of connecting plates 13. The sliders 12 connected to the two X-axis push rods 15 are distributed on a horizontal left-handed trapezoidal screw 9 and a horizontal right-handed trapezoidal screw 10. The sliders 12 move horizontally by rotating the horizontal left-handed trapezoidal screw 9 and the horizontal right-handed trapezoidal screw 10, thereby realizing the opposite or opposite movement between the pair of X-axis push rods 15.

[0021] like Figures 6 to 8 As shown, the locking mechanism includes a vertical trapezoidal lead screw 17, whose rotation drives the slide 18 to move up and down along the vertical guide shaft 19. The slide 18 is fixed to the connecting rod 201 of the connecting rod clamping mechanism 20. The connecting rod clamping mechanism 20 is a four-bar linkage formed by connecting rod 201, connecting rod 202, connecting rod 203 and clamping block 204 connected in sequence, wherein connecting rod 203 is fixed to the side wall of the platform 1. When the slide 18 moves downward, it pushes the connecting rod clamping mechanism 20 to move, causing the clamping block 204 to move from the side of the UAV base 22 ( Figure 7 (Unlocked state) Flip it to its top and press down ( Figure 6 (Locked state).

[0022] The slide 18 is fitted with a trapezoidal nut that mates with the vertical trapezoidal lead screw 17 and several linear bearings that mate with the vertical guide shaft 19. When the vertical trapezoidal lead screw 17 rotates, the slide 18 moves linearly along the vertical guide shaft 19. The slide 18 drives the movement of the connecting rod pressing mechanism 20, causing the pressing block 204 to flip from the side of the drone base 22 to directly above it, thus locking and unlocking the drone.

[0023] Sensor 21 (such as a proximity switch or photoelectric sensor) is set in the corresponding position to detect whether slider 12 or slide block 18 has reached the center position, unfold position or lock position, and to feed back a signal to the controller.

[0024] The working principle and process of the UAV centering and locking platform of the present invention are briefly described below.

[0025] Centering and Deployment in the X-axis: The 24V DC power supply controls the engagement of the two electromagnetic clutches 4 in the X-axis direction, while the jaw-type electromagnetic clutches in the other three directions (+Y, -Y, and Z-axis) remain normally open. The DC motor 2 drives the one-in-five-out reducer 3, which in turn drives the one-in-double-out reducer 8 via the transmission shaft 6 and coupling 7. The one-in-double-out reducer 8 drives the horizontal left-hand trapezoidal lead screw 9 and the horizontal right-hand trapezoidal lead screw 10 to rotate. Then, the two symmetrical sliders 12 move simultaneously in opposite directions along the horizontal guide shaft 11. A connecting plate 13 is mounted on the sliders 12, and an X-axis push rod 15 is mounted on the connecting plate 13. The X-axis push rod 15 pushes the UAV to center along the X-axis. When the sensor 21 detects the sliders in the centering or deployment position, the DC motor 2 stops working. Simultaneously, the 24V DC power supply controls the disengagement of the two jaw-type electromagnetic clutches in the X-axis direction.

[0026] Centering and Deployment in the Y-axis: The 24V DC power supply controls the engagement of the two jaw-type electromagnetic clutches in the Y-axis direction, while the jaw-type electromagnetic clutches in the other three directions (-X, +X, and Z-axis) remain normally open. DC motor 2 drives a one-in-five-out reducer 3, which in turn drives a one-in-two-out reducer 8 via a transmission shaft 6 and coupling 7. The one-in-two-out reducer 8 drives a horizontal left-handed trapezoidal lead screw 9 and a horizontal right-handed trapezoidal lead screw 10 to rotate. Then, two symmetrical sliders 12 move simultaneously in opposite directions along a horizontal guide shaft 11. A connecting plate 13 is mounted on the sliders 12, and a Y-axis push rod 16 is mounted on the connecting plate 13. The Y-axis push rod 16 pushes the UAV to center along the Y-axis. When the sensor 21 detects the sliders in the centering or deployment position, DC motor 2 stops working. Simultaneously, the 24V DC power supply controls the disengagement of the two jaw-type electromagnetic clutches in the Y-axis direction.

[0027] Locking and unlocking mechanism: The 24V DC power supply controls the engagement of the jaw clutch in the Z-axis direction, while the jaw clutches in the other four directions (+Y, -Y, +Y, -Y) remain open. The DC motor 2 drives the one-in-five-out reducer 3, which in turn drives the vertical trapezoidal lead screw 17 to rotate. The lead screw 17 drives the slide 18, converting the rotational motion into linear motion. The slide 18, with its embedded linear bearing, moves up and down along the vertical guide shaft 19, thereby driving the linkage pressing mechanism 20 to lock and unlock the pressure block 204. This causes the pressure block 204 to flip from the side of the drone base 22 to directly above it, thus locking and unlocking the drone. When the sensor 21 detects the slide 18 in either the locked or unlocked position, the DC motor 2 stops working. Simultaneously, the 24V DC power supply controls the disengagement of the jaw clutch in the Z-axis direction.

[0028] In addition, this application also proposes a control process method for the convergence and deployment of the UAV centering and locking platform.

[0029] like Figure 1 As shown, the system initializes during the centering of the UAV and the retraction of the locking platform. First, the controller engages the electromagnetic clutch 4 connecting the two single-input double-output reducers 8 in the X-axis direction, while disengaging the other clutches. The DC motor 2 starts rotating forward, and power is transmitted through the single-input five-output reducer 3, the electromagnetic clutch 4, and the drive shaft 6 to the single-input double-output reducer 8 in the X-axis direction, driving the horizontal left-handed trapezoidal lead screw 9 and the horizontal right-handed trapezoidal lead screw 10 to rotate, causing a pair of X-axis push rods 15 to move towards each other, pushing the UAV to the center along the X-axis. After the sensor 21 detects the positioning, the motor stops, and the X-axis clutches disengage.

[0030] Next, the two electromagnetic clutches 4 controlling the Y-axis direction engage, the motor restarts, and drives a pair of Y-axis push rods 16 to move in opposite directions, completing the Y-axis centering. After reaching the center position, the motor stops, and the Y-axis clutches disengage.

[0031] Finally, the electromagnetic clutch 4, connected to the vertical trapezoidal lead screw 17, engages, the motor starts, and the slide 18 descends. Through the connecting rod clamping mechanism 20, the pressure block 204 flips and presses down, locking the drone base. Once the sensor detects that the locking is complete, the motor stops, and the clutch disengages. At this point, the drone is fully centered and locked.

[0032] The specific steps include: Start → Initialization → X-axis electromagnetic clutch engages, Y-axis and Z-axis clutches disengage → DC motor rotates → X-axis push rod returns to center → Is the X-axis properly centered? → DC motor stops rotating (otherwise, return to the steps: X-axis electromagnetic clutch engages, Y-axis and Z-axis clutches disengage) → Y-axis electromagnetic clutch engages, X-axis and Z-axis clutches disengage → DC motor rotates → Y-axis push rod returns to center → Is the Y-axis properly centered? → DC motor stops rotating (otherwise, return to the steps: Y-axis electromagnetic clutch engages, X-axis and Z-axis clutches disengage) → Z-axis electromagnetic clutch engages, X-axis and Y-axis clutches disengage → DC motor rotates → Locking mechanism engages → Is it properly locked? → Stop (otherwise, return to the steps: Z-axis electromagnetic clutch engages, X-axis and Y-axis clutches disengage).

[0033] like Figure 2 As shown, the drone's ascent and descent, as well as the deployment of the centering and locking platform, execute the reverse sequence. First, the vertical clutch is engaged, the motor reverses, and the locking mechanism is unlocked. Then, the Y-axis and X-axis clutches are engaged sequentially, the motors reverse, and the Y-axis and X-axis push rods move in opposite directions, releasing the drone to a takeoff-ready state.

[0034] The specific steps include: Start → Initialization → X-axis electromagnetic clutch engages, Y-axis and Z-axis clutches disengage → DC motor rotates → X-axis push rod extends → Is the X-axis centered? → DC motor stops rotating (otherwise return to step: X-axis electromagnetic clutch engages, Y-axis and Z-axis clutches disengage) → Y-axis electromagnetic clutch engages, X-axis and Z-axis clutches disengage → DC motor rotates → Y-axis push rod extends → Is the Y-axis centered? → DC motor stops rotating (otherwise return to step: Y-axis electromagnetic clutch engages, X-axis and Z-axis clutches disengage) → Z-axis electromagnetic clutch engages, X-axis and Y-axis clutches disengage → DC motor rotates → Locking mechanism releases → Is it fully released? → Stop (otherwise return to step: Z-axis electromagnetic clutch engages, X-axis and Y-axis clutches disengage).

[0035] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A UAV centering and locking platform, characterized in that, include: Platform (1), centering mechanism and locking mechanism, wherein the center of platform (1) is provided with a groove that matches the UAV base (22), The centering mechanism includes an X-axis centering component and a Y-axis centering component on the back of the platform (1); the locking mechanism includes a vertical screw drive unit and a connecting rod clamping mechanism disposed on the back of the platform (1); It also includes a DC motor (2), a one-in-five-out reducer (3) and five normally open jaw-type electromagnetic clutches (4); the DC motor (2) is connected to the input end of the one-in-five-out reducer (3); The five output shafts of the one-in-five-out reducer (3) are respectively connected to the two power input ends of the X-direction centering component, the two power input ends of the Y-direction centering component, and the power input end of the vertical screw drive unit of the locking mechanism through a normally open dog clutch (4).

2. The UAV centering and locking platform according to claim 1, characterized in that, The X-axis centering component and the Y-axis centering component have the same structure, both including a horizontal lead screw drive unit; the horizontal lead screw drive unit includes a one-in-two-out reducer (8), a horizontal left-hand trapezoidal lead screw (9), a horizontal right-hand trapezoidal lead screw (10), a slider (12), and a bearing seat (14). The input end of the single-input double-output reducer (8) is connected to the corresponding normally open jaw-type electromagnetic clutch (4) via a coupling (7) and a transmission shaft (6); its two output ends are respectively connected to one end of the horizontal left-hand trapezoidal lead screw (9) and the horizontal right-hand trapezoidal lead screw (10), and the other end of the horizontal left-hand trapezoidal lead screw (9) and the horizontal right-hand trapezoidal lead screw (10) is supported in the bearing seat (14); the slider (12) meshes with the lead screw; the front of the platform (1) is provided with a pair of X-direction push rods (15) and a pair of Y-direction push rods (16), and the two ends of each push rod are fixedly connected to the two sliders (12) in the corresponding direction via a connecting plate (13).

3. The UAV centering and locking platform according to claim 2, characterized in that, The X-axis centering component and the Y-axis centering component also have a horizontal guide shaft (11), which is arranged parallel to the horizontal left-handed trapezoidal lead screw (9) and the horizontal right-handed trapezoidal lead screw (10); the slider (12) is slidably sleeved on the horizontal guide shaft (11).

4. The UAV centering and locking platform according to claim 3, characterized in that, The slider (12) is fitted with a trapezoidal nut that cooperates with the horizontal left-hand trapezoidal lead screw (9) and the horizontal right-hand trapezoidal lead screw (10), as well as a linear bearing that cooperates with the horizontal guide shaft (11).

5. The UAV centering and locking platform according to claim 1, characterized in that, The vertical lead screw transmission unit includes a vertical trapezoidal lead screw (17), a slide (18), and a vertical guide shaft (19); the vertical trapezoidal lead screw (17) is connected to the output shaft of the one-in-five-out reducer (3) through the corresponding normally open jaw-type electromagnetic clutch (4); the slide (18) meshes with the vertical trapezoidal lead screw (17) and is slidably sleeved on the vertical guide shaft (19).

6. The UAV centering and locking platform according to claim 5, characterized in that, The slide block 18 is fitted with a trapezoidal nut that cooperates with the vertical trapezoidal lead screw (17) and a linear bearing that cooperates with the vertical guide shaft (19).

7. The UAV centering and locking platform according to claim 5, characterized in that, The linkage clamping mechanism includes a first linkage (201), a second linkage (202), a third linkage (203), and a pressure block (204) that are hinged together in sequence to form a four-bar linkage mechanism; the third linkage (203) is fixedly connected to the side wall of the platform (1), and the first linkage (201) is fixedly connected to the slide (18); the up and down movement of the slide (18) drives the pressure block (204) to move between the side and the top position of the UAV base (22).

8. The UAV centering and locking platform according to claim 1, characterized in that, An adapter (5) is installed on the platform (1), and a one-in-five-out reducer (3) is installed on the adapter (5). The DC motor (2) is connected to the input flange of the one-in-five-out reducer (3).

9. The UAV centering and locking platform according to claim 1, characterized in that, It also includes a sensor (21) for detecting the centering position and the locking position.

10. A control method based on the UAV centering and locking platform according to any one of claims 1-9, characterized in that, Includes the gathering process and the unfolding process: The retraction process executes the following steps in sequence: control the electromagnetic clutch in the X-axis direction to engage, drive the X-axis push rod to perform the centering action; after centering, control the electromagnetic clutch in the Y-axis direction to engage, drive the Y-axis push rod to perform the centering action; after centering, control the electromagnetic clutch in the Z-axis direction to engage, drive the locking mechanism to perform the locking action. The unfolding process executes the following steps in sequence: control the electromagnetic clutch in the Z-axis direction to engage, drive the locking mechanism to perform the unlocking action; after unlocking, control the electromagnetic clutch in the Y-axis direction to engage, drive the Y-axis push rod to perform the unfolding action; Once fully deployed, the electromagnetic clutch controlling the X-axis direction engages, driving the X-axis push rod to perform the deployment action.

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