Unmanned aerial vehicle lifting and centering locking platform

Abstract

The invention discloses an unmanned aerial vehicle lifting and centering locking platform, and belongs to the technical field of low-altitude economy. The platform comprises a lifting mechanism and a centering locking mechanism. The lifting mechanism drives a lifting lead screw through a servo motor and drives the scissor fork structure to achieve vertical lifting and descending of the centering locking mechanism. The centering locking mechanism drives an X-direction push rod and a Y-direction sliding base with a locking device to move through independent X-direction and Y-direction centering assemblies, and centering positioning of the unmanned aerial vehicle is achieved. And a link mechanism of the locking device is triggered through a stop block on the X-direction push rod, so that mechanical locking is realized. The trapezoidal lead screw is adopted for transmission, the rigidity is good, the self-locking performance is high, the whole set of actions of lifting, centering and locking can be completed only through three driving sources, and the structure is compact and efficient.

Description

Technical Field

[0001] This invention relates to the field of low-altitude economic structure technology, specifically to a drone lifting and centering locking platform 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 a trend, forming mobile collaborative operation systems. 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. Currently, most mainstream drone centering and locking mechanisms on the market use synchronous belt drives, which have drawbacks such as low rigidity, poor impact resistance, and lack of self-locking functionality. Furthermore, existing mechanisms typically require three independent driving components to control the X-axis centering, Y-axis centering, and locking actions respectively, resulting in system complexity and high cost.

[0003] Therefore, there is an urgent need to design a drone lift and centering locking platform that is compact, rigid, self-locking, and has fewer drive components. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a UAV lifting and centering locking platform. This device has a stable structure, good self-locking performance, and simplified control.

[0005] To address this, the present invention proposes a UAV lifting and centering locking platform, comprising a lifting mechanism and a centering locking mechanism disposed on its top; the centering locking mechanism includes a lifting platform, an X-axis centering component, a Y-axis centering component, and locking devices; the X-axis centering component is used to drive a pair of X-axis push rods to move synchronously towards or in opposite directions along the X direction; the Y-axis centering component is used to drive a pair of locking devices to move synchronously towards or in opposite directions along the Y direction; the X-axis push rods are provided with stops for triggering the locking devices to perform locking actions.

[0006] Preferably, the X-axis centering assembly includes an X-axis DC motor, an X-axis reducer, an X-axis coupling, an X-axis left-hand lead screw, an X-axis right-hand lead screw, and an X-axis slide bar; the X-axis DC motor synchronously drives the X-axis left-hand lead screw and the X-axis right-hand lead screw to rotate through the X-axis reducer and the X-axis coupling; the two X-axis slide bars are respectively threaded with the X-axis left-hand lead screw and the X-axis right-hand lead screw, and are constrained by the X-axis linear guide pair; the X-axis push rod is mounted on the X-axis slide bar.

[0007] Preferably, the Y-axis centering assembly includes a Y-axis DC motor, a Y-axis reducer, a Y-axis coupling, a Y-axis left-hand lead screw, a Y-axis right-hand lead screw, and a Y-axis slide block; the Y-axis DC motor synchronously drives the Y-axis left-hand lead screw and the Y-axis right-hand lead screw to rotate through the Y-axis reducer and the Y-axis coupling; the two Y-axis slide blocks are respectively threaded with the Y-axis left-hand lead screw and the Y-axis right-hand lead screw, and are fitted onto the Y-axis guide shaft; the locking device is installed on the Y-axis slide block.

[0008] Preferably, the locking device includes a front push rod and a rear push rod, a swing rod, a pawl, and a linkage mechanism mounted on a Y-axis slide; the swing rod is rotatably arranged and can contact the stop block on its rotation path; the linkage mechanism connects the swing rod, the rear push rod, and the pawl, and is used to convert the rotational motion of the swing rod into the downward swing of the pawl to press the drone bracket.

[0009] Preferably, the linkage mechanism includes a first linkage and a second linkage; one end of the first linkage is hinged to one end of the swing arm, and the other end is hinged to the rear axle seat on the rear push rod; the pawl is rotatably mounted on the second hinge seat on the front push rod; the two ends of the second linkage are respectively hinged to the first hinge seat on the rear push rod and the pawl.

[0010] Preferably, the locking device further includes a guide shaft and a compression spring; the guide shaft is fixed to the front push rod and passes through the rear push rod; the compression spring is sleeved on the guide shaft and provides a restoring force to the rear push rod away from the front push rod.

[0011] Preferably, the centering locking mechanism further includes position sensors for detecting the extreme positions of the X-axis slide bar and the Y-axis slide block.

[0012] Preferably, the lifting mechanism includes a base, a servo motor, a first reducer, a lifting screw, a lifting slide bar, and a scissor fork structure. The servo motor drives the lifting screw to rotate through the first reducer, thereby causing the lifting slide bar, which is threaded with the lifting screw, to move linearly, and thus drive the scissor fork structure to unfold or retract. The top end of the scissor fork structure is connected to the lifting platform of the centering locking mechanism.

[0013] Preferably, the lifting mechanism further includes a linear guide rail pair and a fixed support; the linear guide rail pair and the fixed support are mounted on the base; the lifting slide rod is connected to the slider of the linear guide rail pair; one lower support point of the scissor fork structure is hinged to the lifting slide rod, the other lower support point is hinged to the fixed support, and both upper support points are hinged to the lifting platform.

[0014] Preferably, the base of the lifting mechanism is provided with a limiting support column to limit the lowest position of the scissor fork structure.

[0015] The UAV lifting and centering locking platform provided by this invention significantly improves transmission rigidity and impact resistance by using trapezoidal screw drive instead of the traditional synchronous belt solution, and ensures the safety of power-off locking by utilizing its inherent self-locking property. It innovatively designs a centering locking mechanism driven by two prime movers, which synchronously drives the X-axis push rod and the Y-axis locking device through left and right rotating screws, efficiently completing bidirectional centering and locking actions with a simplified structure, reducing cost and control complexity. Furthermore, by triggering the linkage-claw mechanism in the Y-axis locking device through a stop on the X-axis push rod, the mechanical linkage of the centering and locking actions is realized, giving the platform a significantly advantageous effect of compact structure, reliable operation, and precise positioning.

[0016] 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

[0017] 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 3D structural diagram of the platform in its unfolded state; Figure 2 This is a 3D structural diagram of the platform in a collapsed state; Figure 3 This is a detailed structural diagram of the lifting mechanism; Figure 4 This is a schematic diagram of the structure on the back of the centering and locking mechanism; Figure 5 This is a schematic diagram of the top surface of the centering and locking mechanism; Figure 6 This is a detailed structural diagram of the locking device.

[0018] In the diagram: 1. Lifting mechanism; 101. Base; 102. Linear guide pair; 103. First reducer; 104. Servo motor; 105. Lifting screw; 106. Lifting slide bar; 107. Scissor fork structure; 108. Limiting support column; 109. Fixed support; 110. First bearing seat; 112. First coupling; 2. Centering locking mechanism; 201. Lifting platform; 202. Y-axis DC motor; 203. Y-axis reducer; 204. Y-axis coupling; 205. X-axis left-hand lead screw; 206. X-axis right-hand lead screw; 207. Y-axis left-hand lead screw; 208. Y-axis right-hand lead screw; 209. 210. X-axis slide rod; 211. X-axis linear guide pair; 212. Second bearing seat; 213. Third bearing seat; 214. Y-axis slide block; 215. Y-axis guide shaft; 216. Fixed seat; 217. Position sensor; 218. X-axis push rod; 219. Locking device; 2181. Front push rod; 2182. Rear push rod; 2183. Front axle seat; 2184. Rocker arm; 2185. Link 1; 2186. Rear axle seat; 2187. Hinge seat 1; 2188. Hinge seat 2; 2189. Claw; 21810. Link 2; 21811. Guide shaft; 21812. Compression spring; 219. Stop block. Detailed Implementation

[0019] 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.

[0020] like Figures 1-6 As shown, the UAV lifting and centering locking platform of the present invention mainly includes a lifting mechanism 1 and a centering locking mechanism 2. The function of the lifting mechanism 1 is to lift and lower the platform, and the function of the centering locking mechanism 2 is to center and lock the UAV.

[0021] like Figure 3 As shown, the lifting mechanism 1 mainly includes a base 101, a linear guide pair 102, a first reducer 103, a servo motor 104, a lifting screw 105, a lifting slide bar 106, a scissor fork structure 107, a limit support column 108, a fixed support 109, a first bearing seat 110, and a first coupling 112.

[0022] The linear guide pair 102, the first reducer 103, the limit support column 108, the fixed support 109, and the first bearing seat 110 are all mounted on the base 101. The two ends of the lifting screw 105 are mounted between a pair of first bearing seats 110. The tapered roller bearing is mounted inside the first bearing seat 110. The servo motor 104 is connected to the first reducer 103 through the first coupling 112. A trapezoidal nut is installed in the middle of the lifting slide rod 106, and the trapezoidal nut is threadedly engaged with the lifting screw 105. The lifting slide rod 106 is connected to the slider on the linear guide pair 102. One lower support point of the scissor fork structure 107 is mounted on the lifting slide rod 106 through a pin, and the other lower support point of the scissor fork structure 107 is mounted on the fixed support 109 through a pin. At the same time, the two upper support points of the scissor fork structure 107 are connected to the lifting platform 201 of the centering locking mechanism 2 through pins.

[0023] When the servo motor 104 starts, it drives the first reducer 103 to rotate, which in turn drives the lifting screw 105 to rotate. The lifting screw 105 then drives the lifting slide bar 106 to move on the linear guide pair 102. The lifting slide bar 106 drives the scissor fork structure 107 to lift or lower, thereby raising or lowering the platform. The servo motor 104 has a built-in absolute encoder, and the specific lifting and lowering positions can be determined by setting the encoder value.

[0024] The lifting mechanism 1 can also be a screw-nut type linear lifting mechanism or a gear and rack type linear lifting mechanism; the screw-nut type linear lifting mechanism includes: a fixed frame, a lifting servo motor, a vertical screw driven by the lifting servo motor, and a nut threadedly engaged with the vertical screw; the nut is fixedly connected to the lifting platform 201 of the centering locking mechanism 2, thereby converting the rotational motion of the screw into the linear lifting motion of the lifting platform.

[0025] The rack and pinion linear lifting mechanism includes: a fixed frame, a lifting servo motor, a gear driven by the lifting servo motor, and a vertical rack meshing with the gear; the rack is fixedly connected to the lifting platform 201 of the centering locking mechanism 2, thereby converting the rotational motion of the gear into the linear lifting motion of the lifting platform.

[0026] The centering and locking mechanism 2 can realize centering and locking in the X and Y directions respectively, and mainly includes a lifting platform 201, an X-direction centering component, a Y-direction centering component, a position sensor 216, and a locking device 218.

[0027] like Figure 4As shown, the Y-axis centering assembly also includes a Y-axis DC motor 202, a Y-axis reducer 203, a Y-axis coupling 204, a Y-axis left-hand lead screw 207, a Y-axis right-hand lead screw 208, a third bearing housing 212, a Y-axis slide 213, a Y-axis guide shaft 214, and a fixed base 215.

[0028] The X-axis centering assembly includes an X-axis DC motor, an X-axis reducer, an X-axis coupling, an X-axis left-hand lead screw 205, an X-axis right-hand lead screw 206, an X-axis slide bar 209, an X-axis linear guide pair 210, a second bearing housing 211, and an X-axis push rod 217. The X-axis DC motor, reducer, and coupling are the same model as those in the Y-axis.

[0029] The X-axis reducer, Y-axis reducer 203, X-direction linear guide pair 210, second bearing housing 211, third bearing housing 212, fixed base 215, and position sensor 216 are all installed on the lifting platform 201.

[0030] The Y-axis DC motor 202 is mounted on the Y-axis reducer 203. The Y-axis reducer 203 is connected to the Y-axis left-hand lead screw 207 and the Y-axis right-hand lead screw 208 through the Y-axis coupling 204. The Y-axis left-hand lead screw 207 and the Y-axis right-hand lead screw 208 are engaged with the trapezoidal nuts embedded in the Y-axis slide 213. The Y-axis guide shaft 214 is mounted between the third bearing seat 212 and the fixed seat 215. The Y-axis slide 213 moves on the Y-axis guide shaft 214, thus converting the rotational motion into linear motion in the Y direction.

[0031] The X-axis DC motor is mounted on the X-axis reducer. The X-axis reducer is connected to the X-axis left-hand lead screw 205 and the X-axis right-hand lead screw 206 via the X-axis coupling. The X-axis left-hand lead screw 205 and the X-axis right-hand lead screw 206 cooperate with the trapezoidal nut embedded in the X-axis slide rod 209. The X-axis slide rod 209 moves on the X-axis linear guide pair 210, thus converting the rotational motion into linear motion in the X direction.

[0032] Centering and unfolding actions in the X direction: The X-axis DC motor drives the X-axis reducer, which in turn drives the left-hand lead screw 205 and the right-hand lead screw 206 to rotate via the X-axis coupling. Then, the two symmetrical X-axis slide rods 209 move simultaneously in opposite directions along the X-axis linear guide pair 210. The X-axis push rod 217 is mounted on the X-axis slide rods 209, realizing the centering and unfolding of the X-axis push rod 217. When the position sensor 216 senses the slider on the X-axis linear guide pair 210 when the centering or unfolding is in place, the X-axis DC motor stops working.

[0033] Centering and unfolding actions in the Y direction: The Y-axis DC motor 202 drives the Y-axis reducer 203, which in turn drives the left-hand lead screw 207 and the right-hand lead screw 208 to rotate via the Y-axis coupling 204. Then, the two symmetrical Y-axis slides 213 move in opposite directions simultaneously along the Y-axis guide shaft 214. The locking device 218 is installed on the Y-axis slide 213, realizing the centering and unfolding of the locking device 218. When the position sensor 216 detects the sensing plate on the Y-axis slide 213 when it is in the centering or unfolding position, the Y-axis DC motor stops working.

[0034] Among them, the lifting screw 105 of the lifting mechanism 1 and the left-hand screw 205, right-hand screw 206, left-hand screw 207, and right-hand screw 208 of the centering and locking mechanism 2 are all trapezoidal screws.

[0035] like Figure 6 As shown, the locking device 218 can lock the UAV and mainly includes a front push rod 2181, a rear push rod 2182, a front axle seat 2183, a swing rod 2184, a connecting rod 1 2185, a rear axle seat 2186, a hinge seat 1 2187, a hinge seat 2188, a pawl 2189, a connecting rod 21810, a guide shaft 21811, and a compression spring 21812.

[0036] The front push rod 2181 is mounted on the Y-axis slide 213. The front axle seat 2183 and the second hinge seat 2188 are mounted on the front push rod 2181. The rear axle seat 2186 and the first hinge seat 2187 are mounted on the rear push rod 2182. The middle part of the rocker arm 2184 is connected to the front axle seat 2183 by a pin. The first connecting rod 2185 is connected to the rear axle seat 2186 and one end of the rocker arm 2184 by a pin. The pawl 2189 is connected to the second hinge seat 2188 by a pin. The two ends of the second connecting rod 21810 are connected to the first hinge seat 2187 and the pawl 2189 by pins respectively. The guide shaft 21811 is mounted on the front push rod 2181 and passes through the compression spring 21812 and the rear push rod 2182.

[0037] When the swing arm 2184 touches the stop 219 on the X-axis push rod 217, the swing arm 2184 rotates, causing the rear push rod 2182 to move forward along the guide shaft 21811 and the claw 2189 to press down, thus fixing the drone bracket.

[0038] The working principle and process of the UAV lifting and centering locking platform of the present invention are briefly described below.

[0039] Working process of lifting mechanism 1: The base 101 of the lifting mechanism 1 serves as the basic support. When the servo motor 104 is started, its output torque is amplified by the first reducer 103 and transmitted to the lifting screw 105 via the first coupling 112. The lifting screw 105 rotates, driving the mating nut to move the lifting slide 106 linearly along the linear guide pair 102. The movement of the lifting slide 106 forces the scissor fork structure 107 to unfold or retract, thereby achieving the overall lifting or lowering of the upper centering locking mechanism 2 and the drone. The absolute encoder built into the servo motor 104 can preset position parameters to precisely control the endpoint position of the lifting.

[0040] Working process of centering locking mechanism 2: Centering locking mechanism 2 is installed on lifting mechanism 1 and includes two independent drive systems in the X and Y directions.

[0041] X-axis centering and unfolding: The X-axis DC motor starts, synchronously driving the X-axis left-hand lead screw 205 and X-axis right-hand lead screw 206 to rotate via the X-axis Y-axis reducer and Y-axis coupling. Because the threads rotate in opposite directions, the two X-axis slide rods 209, which mesh with the lead screws, move synchronously in opposite directions (centering) or in opposite directions (unfolding) along the X-axis linear guide pair 210. The X-axis push rod 217 mounted on the X-axis slide rod 209 moves accordingly. When the X-axis slide rod 209 moves to the set position, its trigger is detected by the position sensor 216, and the motor stops working.

[0042] Y-direction centering and unfolding: The Y-axis DC motor 202 starts, synchronously driving the Y-axis left-hand lead screw 207 and Y-axis right-hand lead screw 208 to rotate via the Y-axis reducer 203 and Y-axis coupling 204. Similarly, the two Y-axis slides 213 move synchronously in opposite directions along the Y-axis guide shaft 214. The locking device 218 mounted on the Y-axis slide 213 moves accordingly. When the Y-axis slide 213 moves to the set position, the induction plate on it is detected by the position sensor 216, and the motor stops working.

[0043] The working process of locking device 218: See Figure 6 When locking is required, after the Y-axis locking device 218 returns to its centering position, its swing arm 2184 contacts and collides with the stop block 219 on the X-axis push rod 217. This collision forces the swing arm 2184 to rotate, which, through the first connecting rod 2185, pulls the push rod 2182 along the guide shaft 21811, overcoming the elastic force of the compression spring 21812, and pushing it towards the forward push rod 2181. This action, through the linkage mechanism composed of the first hinge seat 2187, the second hinge seat 2188, and the second connecting rod 21810, is ultimately converted into the downward swinging motion of the pawl 2189, thereby firmly pressing the UAV's landing bracket and achieving locking. Unlocking is the reverse process; under the reset action of the compression spring 21812, all components return to their initial positions, and the pawl 2189 lifts up.

[0044] In summary, the UAV lifting and centering locking platform provided by this invention has the following technical features: 1) High transmission rigidity and self-locking capability: The use of trapezoidal lead screws instead of traditional synchronous belt drives significantly improves transmission rigidity and enhances impact resistance. Furthermore, the inherent self-locking characteristic of the trapezoidal lead screws ensures the mechanism remains locked even in the event of a power outage, resulting in higher safety. 2) Simplified structure and reduced cost: Through a clever left-right rotating trapezoidal lead screw design, only two motors are needed to drive four sets of actuators (two pairs of push rods and two pairs of locking devices) to complete centering and locking actions in two directions. Compared to the traditional solution requiring three driving elements, this reduces the number of driving components, simplifies the structure, and lowers manufacturing costs and control complexity. 3) Precise positioning and high reliability: Utilizing closed-loop control of servo motors and sensors, precise control of the lifting and centering positions is achieved, ensuring reliable operation.

[0045] 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 lifting and centering locking platform, characterized in that, It includes a lifting mechanism (1) and a centering locking mechanism (2) located on its top; The centering and locking mechanism (2) includes a lifting platform (201), an X-axis centering component, a Y-axis centering component, and a locking device (218); the X-axis centering component is used to drive a pair of X-axis push rods (217) to move synchronously towards or away from each other in the X direction; the Y-axis centering component is used to drive a pair of locking devices (218) to move synchronously towards or away from each other in the Y direction; the X-axis push rod (217) is provided with a stop (219) for triggering the locking device (218) to perform a locking action.

2. The UAV lifting and centering locking platform according to claim 1, characterized in that, The X-axis centering assembly includes an X-axis DC motor, an X-axis reducer, an X-axis coupling, an X-axis left-hand lead screw (205), an X-axis right-hand lead screw (206), and an X-axis slide rod (209). The X-axis DC motor synchronously drives the X-axis left-hand lead screw (205) and the X-axis right-hand lead screw (206) to rotate through the X-axis reducer and the X-axis coupling. The two X-axis slide rods (209) are threadedly engaged with the X-axis left-hand lead screw (205) and the X-axis right-hand lead screw (206), respectively, and are constrained by the X-axis linear guide pair (210). The X-axis push rod (217) is mounted on the X-axis slide rod (209).

3. The UAV lifting and centering locking platform according to claim 1, characterized in that, The Y-axis centering assembly includes a Y-axis DC motor (202), a Y-axis reducer (203), a Y-axis coupling (204), a Y-axis left-hand lead screw (207), a Y-axis right-hand lead screw (208), and a Y-axis slide (213). The Y-axis DC motor (202) synchronously drives the Y-axis left-hand lead screw (207) and the Y-axis right-hand lead screw (208) to rotate through the Y-axis reducer (203) and the Y-axis coupling (204). The two Y-axis slides (213) are threadedly engaged with the Y-axis left-hand lead screw (207) and the Y-axis right-hand lead screw (208) respectively, and are fitted onto the Y-axis guide shaft (214). The locking device (218) is installed on the Y-axis slide (213).

4. The UAV lifting and centering locking platform according to claim 3, characterized in that, The locking device (218) includes a front push rod (2181) and a rear push rod (2182), a swing rod (2184), a claw (2189), and a linkage mechanism mounted on a Y-axis slide (213). The swing rod (2184) is rotatably mounted and can contact the stop (219) on its rotation path. The linkage mechanism connects the swing rod (2184), the rear push rod (2182), and the claw (2189) to convert the rotational motion of the swing rod (2184) into the downward swing of the claw (2189) to press the drone support.

5. The UAV lifting and centering locking platform according to claim 4, characterized in that, The linkage mechanism includes a first link (2185) and a second link (21810); one end of the first link (2185) is hinged to one end of the swing arm (2184), and the other end is hinged to the rear axle seat (2186) on the rear push rod (2182); the pawl (2189) is rotatably mounted on the second hinge seat (2188) on the front push rod (2181); the two ends of the second link (21810) are respectively hinged to the first hinge seat (2187) and the pawl (2189) on the rear push rod (2182).

6. The UAV lifting and centering locking platform according to claim 5, characterized in that, The locking device (218) further includes a guide shaft (21811) and a compression spring (21812); the guide shaft (21811) is fixed to the front push rod (2181) and passes through the rear push rod (2182); the compression spring (21812) is sleeved on the guide shaft (21811) and provides a restoring force to the rear push rod (2182) away from the front push rod (2181).

7. The UAV lifting and centering locking platform according to claim 2 or 3, characterized in that, The centering locking mechanism (2) also includes a position sensor (216) for detecting the extreme positions of the X-axis slide bar (209) and the Y-axis slide block (213).

8. The UAV lifting and centering locking platform according to claim 1, characterized in that, The lifting mechanism (1) includes a base (101), a servo motor (104), a first reducer (103), a lifting screw (105), a lifting slide bar (106), and a scissor fork structure (107). The servo motor (104) drives the lifting screw (105) to rotate through the first reducer (103), thereby driving the lifting slide bar (106), which is threaded with the lifting screw (105), to move linearly, thereby driving the scissor fork structure (107) to unfold or retract. The top of the scissor fork structure (107) is connected to the lifting platform (201) of the centering locking mechanism (2).

9. The UAV lifting and centering locking platform according to claim 8, characterized in that, The lifting mechanism (1) further includes a linear guide pair (102) and a fixed support (109); the linear guide pair (102) and the fixed support (109) are mounted on the base (101); the lifting slide (106) is connected to the slider of the linear guide pair (102); one lower support point of the scissor fork structure (107) is hinged to the lifting slide (106), the other lower support point is hinged to the fixed support (109), and both upper support points are hinged to the lifting platform (201).

10. The UAV lifting and centering locking platform according to claim 8, characterized in that, The base (101) of the lifting mechanism (1) is provided with a limiting support column (108) that limits the lowest position of the scissor fork structure (107).

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