Unmanned aerial vehicle hoisting universal clamping device and method

Abstract

The application discloses a general clamping device and method for unmanned aerial vehicle hoisting, which comprises a bidirectional clamping block and a bidirectional clamping driving mechanism; the bidirectional clamping block is provided with four blocks and is distributed in a rectangular shape, wherein one of the bidirectional clamping blocks is a mounting end bidirectional clamping block, and the bidirectional clamping block opposite to the mounting end bidirectional clamping block is a free end bidirectional clamping block; the free end bidirectional clamping block is connected with the two adjacent bidirectional clamping blocks through a guide structure; the bidirectional clamping driving mechanism comprises a driving component, a driven component and a reversing transmission component; the driving component comprises a driving screw, one end of the driving screw is rotationally connected to the mounting end bidirectional clamping block, and the other end of the driving screw is provided with a threaded structure and connected with one of the bidirectional clamping blocks adjacent to the mounting end bidirectional clamping block; the application can stably clamp different size box bodies, and significantly improves the stability, safety and automatic operation efficiency in the unmanned aerial vehicle hoisting process.

Description

Technical Field

[0001] This invention relates to unmanned aerial vehicle (UAV) transport devices, specifically to a universal clamping device and method for UAV hoisting. Background Technology

[0002] With the increasing application of drone technology in agricultural transportation and mountain orchard operations, using drones to lift and transport fruit crates and other items has gradually become an important way to improve orchard transportation efficiency. Especially in complex terrain environments such as mountain orchards where manual handling is difficult, drone lifting has advantages such as flexible transportation, high efficiency, and strong adaptability to complex terrain.

[0003] However, current drone-based methods for transporting crates and other containers remain relatively traditional. These typically involve placing the crates inside flexible bags for overall transport or securing them with ropes before lifting. While these methods achieve basic transport functionality, they still have several shortcomings in practical use.

[0004] First, when using bagging or rope binding methods, the lack of a stable and reliable connection between the fruit crate and the hoisting mechanism makes it prone to swaying and swinging during drone flight, affecting flight stability, posing a risk of slippage, and reducing hoisting safety. Second, this method typically relies on manual binding and unbinding, which is cumbersome and inefficient, making it difficult to meet the needs of continuous and high-efficiency hoisting. Third, it is difficult to uniformly secure fruit crates of different specifications and sizes during binding, resulting in poor versatility of existing hoisting methods. Furthermore, ropes or flexible bags can easily cause compression and friction on the fruit crate under stress, thus affecting the quality of the fruit.

[0005] At the same time, existing hoisting methods generally lack reliable clamping and locking structures, making it impossible to stably clamp the fruit boxes during hoisting and difficult to achieve efficient switching between clamping, locking and releasing processes, thus limiting the development of UAV hoisting equipment towards automation, standardization and intelligence.

[0006] Therefore, it is necessary to design a universal clamping device for drone lifting that is structurally sound and applicable to boxes of different sizes, and to provide corresponding lifting methods to achieve stable clamping, reliable locking and efficient release of fruit boxes, thereby improving the safety, stability and efficiency of drone lifting operations. Summary of the Invention

[0007] The purpose of this invention is to overcome the above-mentioned problems and provide a universal clamping device for drone lifting. This clamping device can stably clamp boxes of different sizes, significantly improving the stability, safety and automated operation efficiency of drone lifting.

[0008] Another objective of this invention is to provide a universal clamping method for lifting and transporting drones.

[0009] The objective of this invention is achieved through the following technical solution:

[0010] A universal clamping device for unmanned aerial vehicle (UAV) lifting includes a bidirectional clamping block and a bidirectional clamping drive mechanism;

[0011] The bidirectional clamping blocks are provided in four rectangular arrangements, one of which is the mounting end bidirectional clamping block, and the one diagonally opposite the mounting end bidirectional clamping block is the free end bidirectional clamping block; the free end bidirectional clamping blocks are respectively connected to the two adjacent bidirectional clamping blocks through guide structures.

[0012] The bidirectional clamping drive mechanism includes an active drive component, a driven drive component, and a reversing transmission component. The active drive component includes an active drive screw, one end of which is rotatably connected to the bidirectional clamping block at the mounting end. The other end of the active drive screw is provided with a threaded structure and is connected to one of the bidirectional clamping blocks adjacent to the bidirectional clamping block at the mounting end.

[0013] The driven assembly includes an intermediate drive shaft, a driven screw, and a driven chain assembly. One end of the intermediate drive shaft is rotatably connected to a bidirectional clamping block at the mounting end, and the axis of the intermediate drive shaft is perpendicular to the axis of the driven screw. The axis of the driven screw is parallel to the axis of the intermediate drive shaft, and one end of the driven screw is rotatably connected to another bidirectional clamping block adjacent to the bidirectional clamping block at the mounting end. The other end of the driven screw has a threaded structure and is connected to the bidirectional clamping block at the mounting end. The driven chain assembly is connected between the intermediate drive shaft and the driven screw.

[0014] The reversing transmission assembly is used to transmit the power of the active drive screw to the intermediate transmission shaft.

[0015] In a preferred embodiment of the present invention, the active drive assembly further includes an auxiliary drive screw and an active drive chain assembly, wherein the axis of the auxiliary drive screw is parallel to the axis of the active drive screw;

[0016] The active drive chain assembly includes an active drive chain and active drive sprockets. At least two active drive sprockets are provided, respectively mounted on the active drive screw and the auxiliary drive screw. The active drive chain connects the multiple active drive sprockets. By setting up the auxiliary drive screw and the active drive chain assembly, the active drive screw and the auxiliary drive screw can rotate synchronously via the chain and sprockets, thereby driving two adjacent bidirectional clamping blocks to move synchronously. This improves the synchronicity and stability of the clamping action, avoids skewness or jamming caused by unilateral drive, and further enhances the adaptability and clamping reliability of the clamping device to boxes of different sizes.

[0017] In a preferred embodiment of the present invention, the driven drive chain assembly includes a driven drive chain and driven drive sprockets. At least two driven drive sprockets are provided and respectively disposed on the driven drive screw and the intermediate transmission shaft. The driven drive chain connects the multiple driven drive sprockets. Through the transmission cooperation between the chain and the sprockets, the driven drive screw and the intermediate transmission shaft are reliably connected, achieving smooth power transmission and ensuring synchronous operation of the driven drive screw and the intermediate transmission shaft. This allows the bidirectional clamping blocks connected to them to coordinate their movements with the active clamping blocks, ensuring the consistency of movement of the four bidirectional clamping blocks during clamping and releasing processes.

[0018] In a preferred embodiment of the present invention, the reversing transmission assembly includes two bevel gears, which are respectively mounted on the active drive screw and the intermediate transmission shaft. The vertical reversing transmission between the active drive screw and the intermediate transmission shaft is achieved using a pair of meshing bevel gears. This method features a compact structure, high transmission efficiency, and can accurately transmit the rotational power of the active drive screw to the intermediate transmission shaft, thereby driving the driven drive screw and realizing the coordinated clamping of the four bidirectional clamping blocks.

[0019] Furthermore, the active drive screw includes an operating section and a driving section, and a non-synchronous shared structure is provided between the operating section and the driving section. The non-synchronous shared structure includes a limiting guide cylinder, a friction transmission plate, a disconnection reversing extrusion guide groove, a disconnection reversing extrusion pin, and a shared reversing clearance groove.

[0020] One bevel gear is disposed on the operating section, and the other bevel gear is disposed on the driving section, the driving section being connected to one of the bidirectional clamps adjacent to the mounting end bidirectional clamp;

[0021] The limiting guide cylinder is fixedly sleeved on the end of the driving section facing the operating section, and the end of the operating section facing the driving section extends into the inner cavity of the limiting guide cylinder.

[0022] The friction drive plate is provided in two parts, both of which are located in the inner cavity of the limiting guide cylinder. One friction drive plate is fixedly set on the end face of the operating section facing the driving section, and the other friction drive plate is fixedly set on the end face of the driving section facing the operating section. When the two friction drive plates are in contact, the two bevel gears are in a non-meshing state.

[0023] The disconnection and reversing extrusion guide groove is a spiral structure and is opened on the outer wall of the end of the operating section facing the driving section. The disconnection and reversing extrusion pin is set on the inner wall of the limiting guide cylinder and extends into the disconnection and reversing extrusion guide groove or the common reversing clearance groove. When the disconnection and reversing extrusion pin is located in the common reversing clearance groove, the two bevel gears are in a meshing state.

[0024] The shared reversing clearance groove is an annular structure and is connected to the end of the disconnected reversing extrusion guide groove away from the drive section.

[0025] With the above structure, when clamping the object to be clamped begins, the active drive screw is rotated. The operating section, through two friction transmission plates, drives the drive section to rotate together, thus driving the bidirectional clamping block connected to the drive section to approach the object to be clamped. At this time, the limiting guide cylinder, the pushing disconnection reversing extrusion pin, and the operating section rotate synchronously with each other while remaining relatively stationary. After the clamping block clamps the object, the drive section is obstructed and stops rotating, while the operating section continues to rotate relative to the drive section. Simultaneously, the disconnection reversing extrusion guide groove moves relative to the disconnection reversing extrusion pin. Under the push of the disconnection reversing extrusion pin, the operating section moves axially with the corresponding bevel gear until the two bevel gears change from a non-meshing state to a meshing state, thereby switching the power to the intermediate transmission shaft and the driven drive screw. The driven drive screw then drives the corresponding clamping block to approach the object to be clamped from another direction. At the same time, the disconnection reversing extrusion pin enters the common reversing clearance groove, which allows the disconnection reversing extrusion pin to reciprocate until the clamping block in the other direction is also clamped onto the object, thus completing the clamping operation.

[0026] In a preferred embodiment of the present invention, a locking mechanism is further included, which includes a ratchet, a locking pawl, a limiting bead, and a support spring.

[0027] The ratchet includes a first ratchet and a second ratchet, the first ratchet is fixedly mounted on the active drive screw, and the second ratchet is fixedly mounted on the intermediate transmission shaft;

[0028] The locking pawl holder is slidably disposed within the bidirectional clamping block at the mounting end. The locking pawl holder is provided with a first pawl portion and a second pawl portion. In the locked state, the first pawl portion engages with a first ratchet, and in the locked state, the second pawl portion engages with a second ratchet.

[0029] The mounting end bidirectional clamping block is provided with a sliding guide hole and a non-locking placement hole. One end of the locking pawl is the operating end and extends through the sliding guide hole to the outside of the mounting end bidirectional clamping block.

[0030] The limiting beads are provided in two and are symmetrically arranged on both sides of the operating end of the locking pawl frame. The support spring is arranged between the two limiting beads and abuts against the two limiting beads respectively.

[0031] The non-locking placement hole is connected to the sliding guide hole. When in the locked state, the limiting bead is located in the sliding guide hole, and when the limiting bead is located in the non-locking placement hole, it is in the non-locking state.

[0032] By incorporating a first ratchet, a second ratchet, and a locking pawl that works in conjunction with them, bidirectional self-locking is achieved in the clamped state, preventing the clamping block from loosening due to vibration or external force, significantly improving safety and stability during lifting. Furthermore, the combination of the limit bead and the support spring, along with the design of the non-locking placement hole, allows the locking mechanism to be manually unlocked, providing convenient operation and ensuring both clamping reliability and flexible release requirements.

[0033] In a preferred embodiment of the present invention, the guide structure includes a guide rod and / or a guide telescopic rod assembly.

[0034] A universal clamping method for unmanned aerial vehicle (UAV) lifting includes the following steps:

[0035] S1. Place the object to be clamped between the four bidirectional clamping blocks, so that the object is located in the clamping area formed by the four bidirectional clamping blocks.

[0036] S2. Drive the active drive screw to rotate, and the active drive screw drives a bidirectional clamping block connected to it to perform clamping movement;

[0037] Power is transmitted to the intermediate drive shaft through the reversing transmission assembly, and then the driven drive chain assembly drives the driven drive screw to rotate. The driven drive screw drives a bidirectional clamping block connected to it to clamp and move.

[0038] Under the constraint of the guide structure, the free end bidirectional clamping block moves synchronously with the movement of the adjacent bidirectional clamping block, reducing the size of the clamping area until the object is clamped.

[0039] S3. After clamping, connect the drone hoisting mechanism to the clamping device, and the drone will take off and hoist the clamped object to the target position.

[0040] S4. After reaching the target position, reverse the driving screw to move the bidirectional clamping block away from the center, release the clamped object, and complete the release.

[0041] S5. After release, the drone returns to the starting position or the next working position with the clamping device.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] 1. By setting four bidirectional clamping blocks arranged in a rectangular shape, and utilizing the linkage of the active drive screw, the driven drive screw, and the reversing transmission assembly, when the two bidirectional clamping blocks on the active side move under the drive, the free end bidirectional clamping blocks move synchronously towards the center under the constraint of the guide structure, thereby achieving uniform clamping of the object around it, effectively avoiding shaking or tilting, and improving the stability during the hoisting process.

[0044] 2. The active drive screw is used as the power input. The vertical power is transmitted to the intermediate drive shaft through the reversing transmission component. Then, the driven drive screw is driven by the driven drive chain component, realizing the linkage of multiple clamping blocks driven by a single power source. The structure is compact, the transmission path is short, the energy loss is small, the overall device is small in size and light in weight, and it is easy to use with UAV hoisting mechanism.

[0045] 3. By simply driving the active drive screw to rotate, the four bidirectional clamping blocks can be clamped or released synchronously without the need to adjust each clamping block separately. This simplifies the operation steps, improves the efficiency of clamping and releasing, and is conducive to realizing continuous and standardized UAV hoisting operations. Attached Figure Description

[0046] Figure 1 This is a three-dimensional structural diagram of the universal clamping device for unmanned aerial vehicle (UAV) lifting according to the present invention.

[0047] Figure 2 for Figure 1 A magnified view of X in the image.

[0048] Figure 3 This is a three-dimensional structural diagram of the universal clamping device for drone lifting of the present invention, which conceals two of the vertical clamping blocks.

[0049] Figure 4 for Figure 3 A magnified view of the Y-axis.

[0050] Figure 5-6 This is a front view of two different states of the active drive screw, reversing transmission assembly, asynchronous shared structure, and locking mechanism of the present invention.

[0051] Figure 7 This is a three-dimensional structural diagram of the active drive screw, reversing transmission assembly, asynchronous shared structure, and locking mechanism of the present invention in two different states.

[0052] Figure 8 This is a partial three-dimensional structural diagram of the operating section of the active drive screw and the disconnection reversing extrusion pin of the present invention. Detailed Implementation

[0053] To enable those skilled in the art to fully understand the technical solutions of the present invention, the present invention will be further described below in conjunction with embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0054] Example 1

[0055] Combination Figure 1The universal clamping device for drone lifting in this embodiment includes a bidirectional clamping block 1 and a bidirectional clamping drive mechanism; the bidirectional clamping block 1 is provided with four and distributed in a rectangular shape, one of which is the mounting end bidirectional clamping block 1, and the one diagonally opposite to the mounting end bidirectional clamping block 1 is the free end bidirectional clamping block 1; the free end bidirectional clamping block 1 is connected to two adjacent bidirectional clamping blocks 1 through a guide structure; wherein, the guide structure includes a guide rod 2 and / or a guide telescopic rod assembly 3.

[0056] Combination Figure 1 The bidirectional clamping drive mechanism includes an active drive component, a driven drive component, and a reversing transmission component. The active drive component includes an active drive screw 4. One end of the active drive screw 4 is rotatably connected to the bidirectional clamping block 1 at the mounting end. The other end of the active drive screw 4 is provided with a threaded structure and is connected to one of the bidirectional clamping blocks 1 adjacent to the bidirectional clamping block 1 at the mounting end.

[0057] Combination Figure 1-4 The active drive assembly further includes an auxiliary drive screw 5 and an active drive chain assembly. The axis of the auxiliary drive screw 5 is parallel to the axis of the active drive screw 4. The active drive chain assembly includes an active drive chain 6 and active drive sprockets 7. At least two active drive sprockets 7 are provided and respectively disposed on the active drive screw 4 and the auxiliary drive screw 5. The active drive chain 6 connects multiple active drive sprockets 7. By setting the auxiliary drive screw 5 and the active drive chain assembly, the active drive screw 4 and the auxiliary drive screw 5 can rotate synchronously through the chain and sprockets, thereby driving two adjacent bidirectional clamping blocks 1 to move synchronously. This improves the synchronicity and stability of the clamping action, avoids skew or jamming caused by unilateral drive, and further enhances the adaptability and clamping reliability of the clamping device to boxes of different sizes.

[0058] Combination Figure 1-4 The driven assembly includes an intermediate drive shaft 8, a driven drive screw 9, and a driven drive chain assembly. One end of the intermediate drive shaft 8 is rotatably connected to the mounting end bidirectional clamping block 1, and the axis of the intermediate drive shaft 8 is perpendicular to the axis of the driving screw 4. The axis of the driven drive screw 9 is parallel to the axis of the intermediate drive shaft 8, and one end of the driven drive screw 9 is rotatably connected to another bidirectional clamping block 1 adjacent to the mounting end bidirectional clamping block 1. The other end of the driven drive screw 9 has a threaded structure and is connected to the mounting end bidirectional clamping block 1. The driven drive chain assembly is connected between the intermediate drive shaft 8 and the driven drive screw 9.

[0059] Combination Figure 1-4The driven drive chain assembly includes a driven drive chain 10 and driven drive sprockets 11. At least two driven drive sprockets 11 are provided and respectively mounted on the driven drive screw 9 and the intermediate transmission shaft 8. The driven drive chain 10 connects the multiple driven drive sprockets 11. Through the transmission cooperation between the chain and the sprockets, the driven drive screw 9 and the intermediate transmission shaft 8 are reliably connected, achieving smooth power transmission and ensuring synchronous operation of the driven drive screw 9 and the intermediate transmission shaft 8. This allows the bidirectional clamping blocks 1 connected to them to coordinate with the active side clamping blocks, ensuring the consistency of movement of the four bidirectional clamping blocks 1 during clamping and releasing processes.

[0060] Combination Figure 1-4 The reversing transmission assembly is used to transmit the power of the active drive screw 4 to the intermediate transmission shaft 8. The reversing transmission assembly includes two bevel gears 12, which are respectively mounted on the active drive screw 4 and the intermediate transmission shaft 8. The vertical reversing transmission between the active drive screw 4 and the intermediate transmission shaft 8 is achieved using a pair of meshing bevel gears 12. This method is compact, has high transmission efficiency, and can accurately transmit the rotational power of the active drive screw 4 to the intermediate transmission shaft 8, thereby driving the driven drive screw 9 and achieving the coordinated clamping of the four bidirectional clamping blocks 1.

[0061] Combination Figure 5-8The active drive screw 4 includes an operating section 4-1 and a drive section 4-2. A non-synchronous shared structure is provided between the operating section 4-1 and the drive section 4-2. This non-synchronous shared structure includes a limiting guide cylinder 13, friction transmission plates 14, a disconnection reversing extrusion guide groove 4-1-1, a disconnection reversing extrusion pin 15, and a shared reversing clearance groove 4-1-2. One bevel gear 12 is disposed on the operating section 4-1, and the other bevel gear 12 is disposed on the drive section 4-2. The drive section 4-2 is connected to one of the bidirectional clamping blocks 1 adjacent to the mounting end bidirectional clamping block 1. The limiting guide cylinder 13 is fixedly sleeved on the end of the drive section 4-2 facing the operating section 4-1, and the end of the operating section 4-1 facing the drive section 4-2 extends into the inner cavity of the limiting guide cylinder 13. Two friction transmission plates 14 are provided, both located within the inner cavity of the limiting guide cylinder 13. One friction drive plate 14 is fixedly mounted on the end face of the operating section 4-1 facing the driving section 4-2, and another friction drive plate 14 is fixedly mounted on the end face of the driving section 4-2 facing the operating section 4-1. When the two friction drive plates 14 are in contact, the two bevel gears 12 are in a non-meshing state. The disconnection reversing extrusion guide groove 4-1-1 has a spiral structure and is opened on the outer wall of the end of the operating section 4-1 facing the driving section 4-2. The disconnection reversing extrusion pin 15 is set on the inner wall of the limiting guide cylinder 13 and extends into the disconnection reversing extrusion guide groove 4-1-1 or the shared reversing clearance groove 4-1-2. When the disconnection reversing extrusion pin 15 is located in the shared reversing clearance groove 4-1-2, the two bevel gears 12 are in a meshing state. The shared reversing clearance groove 4-1-2 has an annular structure and is connected to the end of the disconnection reversing extrusion guide groove 4-1-1 away from the driving section 4-2.

[0062] With the above structure, when the object to be clamped begins to be clamped, the active drive screw 4 is rotated. The operating section 4-1 drives the drive section 4-2 to rotate together through the two friction transmission plates 14, so as to drive the bidirectional clamping block 1 connected to the drive section 4-2 to approach the object to be clamped. At this time, the limiting guide cylinder 13, the pushing disconnection reversing extrusion pin 15, and the operating section 4-1 are relatively stationary and rotate synchronously. After the clamping block clamps the object, the drive section 4-2 is obstructed and stops rotating. The operating section 4-1 continues to rotate relative to the drive section 4-2. At the same time, the disconnection reversing extrusion guide groove 4-1-1 moves relative to the disconnection reversing extrusion pin 15. Under the push of the disconnection reversing extrusion pin 15, the operating section 4-1 moves axially with the corresponding bevel gear 12 until the two bevel gears 12 change from a non-meshing state to a meshing state, thereby switching the power to the intermediate transmission shaft 8 and the driven drive screw 9. The driven drive screw 9 then drives the corresponding clamping block to approach the object to be clamped from another direction. At the same time, the disconnected reversing extrusion pin 15 enters the common reversing clearance groove 4-1-2. The common reversing clearance groove 4-1-2 can avoid the disconnected reversing extrusion pin 15 from reciprocating until the clamping block in the other direction is also clamped on the object, thus completing the clamping work of the object.

[0063] Combination Figure 2 and Figure 4 This embodiment also includes a locking mechanism, which includes a ratchet, a locking pawl holder 16, a limiting bead 17, and a support spring. The ratchet includes a first ratchet 18 and a second ratchet 19. The first ratchet 18 is fixedly mounted on the active drive screw 4, and the second ratchet 19 is fixedly mounted on the intermediate drive shaft 8. The locking pawl holder 16 is slidably mounted in the bidirectional clamping block 1 at the mounting end. The locking pawl holder 16 has a first pawl portion 16-1 and a second pawl portion 16-2. The first pawl portion 16-1 engages with the first ratchet 18 in the locked state, and the second pawl portion 16-2 engages with the second ratchet 19 in the locked state. The bidirectional clamping block 1 at the mounting end... The clamping block 1 is provided with a sliding guide hole 1-1 and a non-locking placement hole 1-2. One end of the locking pawl bracket 16 is the operating end and extends through the sliding guide hole 1-1 to the outside of the mounting end bidirectional clamping block 1. Two limiting beads 17 are provided and are movably and symmetrically arranged on both sides of the operating end of the locking pawl bracket 16. The support spring (not shown in the figure) is arranged between the two limiting beads 17 and abuts against the two limiting beads 17 respectively. The non-locking placement hole 1-2 is connected to the sliding guide hole 1-1. When in the locked state, the limiting bead 17 is located in the sliding guide hole 1-1. When the limiting bead 17 is located in the non-locking placement hole 1-2, it is in the unlocked state.

[0064] By incorporating a first ratchet 18, a second ratchet 19, and a locking pawl 16 that cooperates with them, bidirectional self-locking is achieved in the clamped state, preventing the clamping block from loosening due to vibration or external force, significantly improving safety and stability during lifting. Furthermore, the cooperation between the limiting bead 17 and the support spring, along with the design of the non-locking placement holes 1-2, allows the locking mechanism to be manually unlocked, providing convenient operation and ensuring both clamping reliability and flexible release requirements.

[0065] Example 2

[0066] Combination Figure 1-8 The general clamping method for drone lifting in this embodiment includes the following steps:

[0067] Initially, the four bidirectional clamping blocks 1 are in the open position, providing a large clamping area. The object to be clamped (such as a fruit box) is placed between the four bidirectional clamping blocks 1, placing it within the clamping area.

[0068] The operator drives the active drive screw 4 to rotate. The operating section 4-1 of the active drive screw 4 drives the drive section 4-2 to rotate synchronously through two adjacent friction transmission plates 14, driving the bidirectional clamping block 1 connected to it to move. When the clamping block clamps the object, the drive section 4-2 is obstructed and stops rotating, while the operating section 4-1 continues to rotate under the driving force. At this time, the disconnection reversing extrusion guide groove 4-1-1 moves relative to the disconnection reversing extrusion pin 15. Under the push of the disconnection reversing extrusion pin 15, the operating section 4-1 drives the bevel gear 12 on it to move axially, so that the two bevel gears 12 change from a non-meshing state to a meshing state. At the same time, the disconnection reversing extrusion pin 15 enters the common reversing clearance groove 4-1-2. After that, the power is transmitted from the operating section 4-1 through the meshing bevel gear 12 to the intermediate transmission shaft 8 and the driven drive screw 9, driving the bidirectional clamping block 1 in the other direction to continue moving until it clamps the object, completing the entire clamping process.

[0069] During clamping, the locking mechanism is in the unlocked state. After clamping is complete, the operator can manually operate the locking pawl holder 16 to engage the first pawl part 16-1 with the first ratchet 18 and the second pawl part 16-2 with the second ratchet 19. At the same time, the limiting bead 17 is engaged in the sliding guide hole 1-1 under the action of the support spring, maintaining the locked state and preventing the clamping blocks from loosening due to vibration or external force. When it is necessary to release the object, the operator pulls the locking pawl holder 16 to allow the limiting bead 17 to enter the non-locking placement hole 1-2, releasing the engagement between the pawl and the ratchet. Then, the active drive screw 4 is driven in the reverse direction, causing the four bidirectional clamping blocks 1 to move away from the center synchronously, thus releasing the object.

[0070] When the drone is used for hoisting, the hoisting mechanism is connected to the clamping device. After the drone takes off, it hoists the clamping device along with the clamped object to the target position. The unloading is completed through the release operation described above. Finally, the drone carries the clamping device back to the starting position or the next working position.

[0071] The above are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above content. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A universal clamping device for unmanned aerial vehicle (UAV) lifting, characterized in that, Includes a two-way clamping block and a two-way clamping drive mechanism; The bidirectional clamping blocks are provided in four rectangular arrangements, one of which is the mounting end bidirectional clamping block, and the one diagonally opposite the mounting end bidirectional clamping block is the free end bidirectional clamping block; the free end bidirectional clamping blocks are respectively connected to the two adjacent bidirectional clamping blocks through guide structures. The bidirectional clamping drive mechanism includes an active drive component, a driven drive component, and a reversing transmission component. The active drive component includes an active drive screw, one end of which is rotatably connected to the bidirectional clamping block at the mounting end. The other end of the active drive screw is provided with a threaded structure and is connected to one of the bidirectional clamping blocks adjacent to the bidirectional clamping block at the mounting end. The driven assembly includes an intermediate drive shaft, a driven screw, and a driven chain assembly. One end of the intermediate drive shaft is rotatably connected to a bidirectional clamping block at the mounting end, and the axis of the intermediate drive shaft is perpendicular to the axis of the driven screw. The axis of the driven screw is parallel to the axis of the intermediate drive shaft, and one end of the driven screw is rotatably connected to another bidirectional clamping block adjacent to the bidirectional clamping block at the mounting end. The other end of the driven screw has a threaded structure and is connected to the bidirectional clamping block at the mounting end. The driven chain assembly is connected between the intermediate drive shaft and the driven screw. The reversing transmission assembly is used to transmit the power of the active drive screw to the intermediate transmission shaft.

2. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 1, characterized in that, The active drive assembly also includes an auxiliary drive screw and an active drive chain assembly, wherein the axis of the auxiliary drive screw is parallel to the axis of the active drive screw; The active drive chain assembly includes an active drive chain and active drive sprockets. There are at least two active drive sprockets, which are respectively disposed on the active drive screw and the auxiliary drive screw. The active drive chain is connected between multiple active drive sprockets.

3. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 1, characterized in that, The driven drive chain assembly includes a driven drive chain and driven drive sprockets. There are at least two driven drive sprockets, which are respectively disposed on the driven drive screw and the intermediate transmission shaft. The driven drive chain is connected between multiple driven drive sprockets.

4. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 1, characterized in that, The reversing transmission assembly includes two bevel gears, which are respectively mounted on the drive screw and the intermediate transmission shaft.

5. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 4, characterized in that, The active drive screw includes an operating section and a driving section. The operating section and the driving section are provided with a non-synchronous shared structure. The non-synchronous shared structure includes a limiting guide cylinder, a friction transmission plate, a disconnection reversing extrusion guide groove, a disconnection reversing extrusion pin, and a shared reversing clearance groove. One bevel gear is disposed on the operating section, and the other bevel gear is disposed on the driving section, the driving section being connected to one of the bidirectional clamps adjacent to the mounting end bidirectional clamp; The limiting guide cylinder is fixedly sleeved on the end of the drive section facing the operating section, and the end of the operating section facing the drive section extends into the inner cavity of the limiting guide cylinder.

6. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 5, characterized in that, The friction drive plate is provided in two parts, both of which are located in the inner cavity of the limiting guide cylinder. One friction drive plate is fixedly set on the end face of the operating section facing the driving section, and the other friction drive plate is fixedly set on the end face of the driving section facing the operating section. When the two friction drive plates are in contact, the two bevel gears are in a non-meshing state. The disconnection and reversing extrusion guide groove is a spiral structure and is opened on the outer wall of the end of the operating section facing the driving section. The disconnection and reversing extrusion pin is set on the inner wall of the limiting guide cylinder and extends into the disconnection and reversing extrusion guide groove or the common reversing clearance groove. When the disconnection and reversing extrusion pin is located in the common reversing clearance groove, the two bevel gears are in a meshing state. The shared reversing clearance groove is an annular structure and is connected to the end of the disconnected reversing extrusion guide groove away from the drive section.

7. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 1, characterized in that, It also includes a locking mechanism, which comprises a ratchet, a locking pawl, a limit bead, and a support spring; The ratchet includes a first ratchet and a second ratchet, the first ratchet is fixedly mounted on the active drive screw, and the second ratchet is fixedly mounted on the intermediate transmission shaft; The locking pawl holder is slidably disposed within the bidirectional clamping block at the mounting end. The locking pawl holder is provided with a first pawl portion and a second pawl portion. In the locked state, the first pawl portion engages with a first ratchet, and in the locked state, the second pawl portion engages with a second ratchet.

8. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 7, characterized in that, The mounting end bidirectional clamping block is provided with a sliding guide hole and a non-locking placement hole. One end of the locking pawl is the operating end and extends through the sliding guide hole to the outside of the mounting end bidirectional clamping block. The limiting beads are provided in two and are symmetrically arranged on both sides of the operating end of the locking pawl frame. The support spring is arranged between the two limiting beads and abuts against the two limiting beads respectively. The non-locking placement hole is connected to the sliding guide hole. When in the locked state, the limiting bead is located in the sliding guide hole, and when the limiting bead is located in the non-locking placement hole, it is in the non-locking state.

9. The universal clamping device for unmanned aerial vehicle (UAV) lifting according to claim 1, characterized in that, The guide structure includes a guide rod and / or a guide telescopic rod assembly.

10. A method for universally clamping a drone for lifting, applied to the universal clamping device for drone lifting as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. Place the object to be clamped between the four bidirectional clamping blocks, so that the object is located in the clamping area formed by the four bidirectional clamping blocks. S2. Drive the active drive screw to rotate, and the active drive screw drives a bidirectional clamping block connected to it to perform clamping movement; Power is transmitted to the intermediate drive shaft through the reversing transmission assembly, and then the driven drive chain assembly drives the driven drive screw to rotate. The driven drive screw drives a bidirectional clamping block connected to it to clamp and move. Under the constraint of the guide structure, the free end bidirectional clamping block moves synchronously with the movement of the adjacent bidirectional clamping block, reducing the size of the clamping area until the object is clamped. S3. After clamping, connect the drone hoisting mechanism to the clamping device, and the drone will take off and hoist the clamped object to the target position. S4. After reaching the target position, reverse the driving screw to move the bidirectional clamping block away from the center, release the clamped object, and complete the release. S5. After release, the drone returns to the starting position or the next working position with the clamping device.

Images