Automatic centering and paddle straightening device and method for a drone parking platform

Abstract

The application relates to an unmanned aerial vehicle parking platform automatic centering and paddle straightening device and method. The device comprises a chassis, an unmanned aerial vehicle centering mechanism and a paddle straightening mechanism; the unmanned aerial vehicle centering mechanism comprises centering assemblies arranged along X and Y directions respectively, and a motor end module and a non-motor end module of the centering assemblies are jointly connected with a fixed unmanned aerial vehicle support to push the unmanned aerial vehicle to the center of the chassis; the paddle straightening mechanism comprises an annular track installed on the chassis, a moving lever moving along the annular track and a fixed lever fixed to the inner side of the annular track. The purpose is to solve the technical problem that after the unmanned aerial vehicle automatically lands on the parking platform, the body deviates from the center position of the platform due to wind force, positioning error and flight control precision limitation, thereby affecting the storage protection or the safety of the take-off again; the defects of the prior art centering mechanism are overcome, such as complex structure, large space occupation, poor synchronization of multiple drives, high platform load, only supporting single function, and the rigid paddle straightening mode lacks an avoiding mechanism and is easy to damage the paddle.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) auxiliary equipment technology, and in particular to an automatic centering and propeller alignment device and method for a UAV parking platform. Background Technology

[0002] With the widespread application of drones in logistics, inspection, surveying, security and other fields, their automated take-off and landing systems have become a key link in improving operational efficiency and reliability. To achieve precise parking of drones on hangars or tarmacs, existing technologies generally employ a centering mechanism to push drones with deviations in landing position back to the center of the platform. At the same time, a propeller adjustment mechanism is used to adjust the angle of randomly oriented propeller blades to avoid interference with hangar doors, charging devices or robotic arms, and to ensure safety and stability during re-take-off.

[0003] Existing centering methods, such as push plates, grippers, and conveyor belts, suffer from problems such as complex mechanisms, large space occupation, poor synchronization of multiple drives, and high platform load. Moreover, they can usually only center the airframe and cannot handle the blade position. If a rigid lever is used directly to handle the blades, it is easy to cause impact damage to the blades. Summary of the Invention

[0004] The purpose of this invention is to solve the technical problem in the prior art where the drone deviates from the center position of the platform due to wind force, positioning error and flight control accuracy limitations after automatically landing on the parking platform, thus affecting the safe storage and protection or take-off. At the same time, it overcomes the defects of the existing centering mechanism, such as complex structure, large space occupation, poor synchronization of multiple drives, high platform load, only supporting single function, and lack of avoidance mechanism in rigid propeller method, which is easy to damage the propeller blades.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] According to a first aspect of the present invention, an automatic centering and propeller alignment device for a drone parking platform is provided, comprising a base frame, a drone centering mechanism, and a propeller alignment mechanism;

[0007] The drone centering mechanism includes centering components arranged along the X and Y directions respectively. Each centering component includes a motor-driven end module and a motorless end module. The motor-driven end module is equipped with a forward and reverse threaded rod and a drive motor that drives the forward and reverse threaded rod to rotate. The forward and reverse threaded rod drives two nut seats on it to move synchronously towards or away from each other. The motor-driven end module and the motorless end module of each centering component are connected together to a fixed drone bracket to push the drone to the center of the base frame.

[0008] The blade alignment mechanism includes an annular track mounted on the base frame, a movable lever that can move along the annular track, and a fixed lever fixed to the inner side of the annular track. The movable lever is equipped with a flipping joint with a magnetic positioning mechanism and an elastic reset mechanism. When the movable lever moves forward, it is in an upright state to move the blade. When it moves in the reverse direction, it is pressed and flipped to a low position by the fixed lever to avoid the blade.

[0009] Optionally, the motor-driven end module includes a lead screw and slide rail module, wherein the lead screw has two sections of threads with opposite directions, which are respectively threadedly engaged with the two nut seats; the motorless end module is provided with an auxiliary slide rail and a slider, which are used to slide and connect with the fixed drone bracket and move synchronously with the motor-driven end module.

[0010] Optionally, the blade alignment mechanism further includes a timing belt and a drive wheel. The motion lever is fixed to the timing belt, and the timing belt is driven by the drive wheel to drive the motion lever to circulate along the annular track.

[0011] Optionally, the flip joint is located at the root of the motion lever, the magnetic positioning mechanism includes an axial magnet embedded in the joint, and the elastic reset mechanism includes a rubber band connected to the side of the joint, the rubber band being used to provide a reset force to make the motion lever stand upright again.

[0012] Optionally, the fixed lever has a downward pressing end face, which, when the moving lever moves in the opposite direction to the fixed lever position, forces the moving lever to flip downward.

[0013] Optionally, the fixed drone support has a rectangular frame structure, with its four corners respectively connected to the motor-driven end module and the motorless end module in the X and Y directions.

[0014] Optionally, the base frame is a rectangular frame structure, the centering mechanism is located in the inner area of ​​the rectangular frame, and the annular track is fixed to the rectangular frame by support wheels or support seats.

[0015] According to a second aspect of the present invention, a method for automatic centering and propeller alignment of a UAV using any of the above-described devices is provided, comprising the following steps:

[0016] The drone landed on the fixed drone support;

[0017] The drone centering mechanism is activated, and the drive motors of the X and Y direction centering components drive the positive and negative threaded rods to rotate, driving the fixed drone bracket to move the drone to the center of the base frame.

[0018] The propeller alignment mechanism is activated, driving the motion lever to move forward along the circular track. The motion lever remains upright under the action of the magnetic positioning mechanism, thus moving the drone propellers.

[0019] When the motion lever moves forward to the preset position, it is driven to move in the opposite direction. During the reverse movement, the motion lever touches the fixed lever and is pressed down to flip to the low position.

[0020] Optionally, before activating the propeller alignment mechanism, a detection is included to confirm that the UAV has been pushed to the center position of the chassis by the UAV centering mechanism.

[0021] The advantages of this invention are as follows: by using positive and negative threaded screws in conjunction with motor-end modules and motorless end modules, the traditional solution requiring two motors in each of the X / Y directions is reduced to only two motors, thus reducing the overall weight and power consumption; the motion lever ensures forward propulsion and reverse avoidance through the synergistic action of the magnetic positioning mechanism, the elastic reset mechanism, and the fixed lever; the entire device is integrated into the same base frame, resulting in a compact structure. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the automatic centering and propeller alignment device for the UAV parking platform described in this invention.

[0024] In the diagram: 1. Base frame; 2. Lead screw; 3. Drive motor; 4. Nut seat; 5. UAV mounting bracket; 6. Circular track; 7. Motion lever; 8. Fixing lever. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1

[0027] like Figure 1As shown, an automatic centering and propeller alignment device for a drone parking platform includes a base frame 1, a drone centering mechanism, and a propeller alignment mechanism. The base frame 1 adopts a rectangular frame structure, serving as the load-bearing foundation for the entire device and supporting and fixing other functional modules.

[0028] The drone centering mechanism is located inside the base frame 1 and consists of two sets of centering components arranged along the X and Y directions respectively. Each set of centering components includes a motor-driven end module and a motorless end module. The motor-driven end module and the motorless end module are arranged opposite each other in the X direction, and also opposite each other in the Y direction. The motor-driven end module integrates a lead screw 2 and a slide rail module. Its core is a lead screw 2 with two opposite threads, which form a threaded transmission engagement with two nut seats 4. The drive motor 3 is connected to and drives the lead screw 2 to rotate, causing the two nut seats 4 to move synchronously towards or away from each other. The motorless end module is equipped with an auxiliary slide rail and a slider for sliding connection with the fixed drone bracket 5 and to maintain synchronization and coordination with the motor-driven end module during movement. The fixed drone support 5 has a rectangular frame structure. Its four corners are respectively connected to the motor-driven end module and the motorless end module in the X and Y directions. Under the action of the drive motor 3, it can move smoothly along the X and Y axes, gradually pushing the drone that lands on it to the center position of the base frame 1 to complete the centering operation.

[0029] The propeller alignment mechanism is mounted on the base frame 1 and arranged around the designated parking area of ​​the UAV. This mechanism includes a circular track 6, a moving lever 7, a fixed lever 8, a timing belt, and a drive wheel. The circular track 6 is fixed to the rectangular frame of the base frame 1 via support wheels or support seats, forming a closed loop. The moving lever 7 is fixed to the timing belt, and the drive wheel drives the timing belt to move, thereby driving the moving lever 7 along the circular track 6. The root of the moving lever 7 has a flipping joint, where an axial magnet is embedded, forming a magnetic positioning mechanism; simultaneously, a rubber band is connected to the side of the joint as an elastic reset mechanism, providing a restoring force to allow the moving lever 7 to stand upright again after being flipped under pressure. The fixed lever 8 is fixed at a specific position inside the circular track 6 and has a downward pressing end face. When the motion lever 7 moves forward along the circular track 6 and approaches the drone, it is in an upright position, able to contact and move the drone's propellers, causing them to rotate to a preset position. When the motion lever 7 continues to move to the position of the fixed lever 8 and begins its reverse return, the downward pressing end face of the fixed lever 8 presses against the motion lever 7, causing it to flip downward around the flip joint to a low position, thus safely passing through the return path at a height lower than the propellers and avoiding collision interference. When the motion lever 7 enters the forward movement phase again, the tension of the rubber band causes it to automatically return to an upright position, ready to perform the next propeller movement.

[0030] The device, through the coordinated operation of the UAV centering mechanism and the propeller alignment mechanism, first uses the X and Y bidirectional centering components to accurately push the UAV to the center of the platform. Then, the propeller alignment mechanism is activated, with the motion lever 7 running cyclically on the circular track 6. The propellers are only vertically moved during the forward stroke, while they are automatically flipped to avoid obstacles during the reverse stroke, ensuring that the propeller movement process is efficient, reliable, and free from mechanical interference.

[0031] Example 2

[0032] An automatic centering and propeller alignment method for a UAV using the device described in Embodiment 1 includes the following steps:

[0033] The drone landed on a fixed drone support.

[0034] The drone centering mechanism is activated, and the drive motors of the centering components in the X and Y directions drive the positive and negative threaded rods to rotate, which in turn drives the fixed drone bracket to move the drone to the center of the base frame.

[0035] Before activating the propeller alignment mechanism, confirm that the drone has been pushed to the center position of the chassis by the drone centering mechanism;

[0036] Activate the propeller alignment mechanism to drive the motion lever to move forward along the circular track. The motion lever remains upright under the action of the magnetic positioning mechanism, thus moving the drone propellers.

[0037] When the motion lever moves forward to the preset position, it is driven to move in the opposite direction. During the reverse movement, the motion lever touches the fixed lever and is pressed down to flip to the low position.

[0038] The specific structure, driving method, and connection relationship between the UAV centering mechanism and the fixed UAV support, as well as the construction and working principle of the annular track, moving lever, fixed lever, synchronous belt, drive wheel, flipping joint, magnetic positioning mechanism, and elastic reset mechanism in the propeller centering mechanism, have all been described in detail in Embodiment 1 and will not be repeated here.

[0039] This method first completes the precise centering of the UAV on the chassis, and then triggers the propeller alignment action based on the centering completion state. This ensures that the lever only contacts and moves the propeller in a vertical posture during the forward stroke, and automatically flips to avoid it during the reverse return stroke. This effectively avoids interference and collision between the moving lever and the propeller, and improves the reliability and safety of the propeller alignment.

[0040] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An automatic centering and propeller alignment device for a drone parking platform, characterized in that, This includes the base frame, the UAV centering mechanism, and the propeller alignment mechanism; The drone centering mechanism includes centering components arranged along the X and Y directions respectively. Each centering component includes a motor-driven end module and a motorless end module. The motor-driven end module is equipped with a forward and reverse threaded rod and a drive motor that drives the forward and reverse threaded rod to rotate. The forward and reverse threaded rod drives two nut seats on it to move synchronously towards or away from each other. The motor-driven end module and the motorless end module of each centering component are connected together to a fixed drone bracket to push the drone to the center of the base frame. The blade alignment mechanism includes an annular track mounted on the base frame, a movable lever that can move along the annular track, and a fixed lever fixed to the inner side of the annular track. The movable lever is equipped with a flipping joint with a magnetic positioning mechanism and an elastic reset mechanism. When the movable lever moves forward, it is in an upright state to move the blade. When it moves in the reverse direction, it is pressed and flipped to a low position by the fixed lever to avoid the blade.

2. The automatic centering and propeller alignment device for a drone parking platform according to claim 1, characterized in that, The motor-driven end module includes a lead screw and slide rail module. The lead screw has two sections with opposite threads, which are respectively threadedly engaged with the two nut seats. The motorless end module is equipped with an auxiliary slide rail and a slider, which are used to slide and connect with the fixed drone bracket and move synchronously with the motor-driven end module.

3. The automatic centering and propeller alignment device for a drone parking platform according to claim 1, characterized in that, The blade alignment mechanism also includes a timing belt and a drive wheel. The motion lever is fixed to the timing belt and drives the timing belt to run through the drive wheel, thereby driving the motion lever to circulate along the circular track.

4. The automatic centering and propeller alignment device for a drone parking platform according to claim 1, characterized in that, The flip joint is located at the root of the motion lever, and the magnetic positioning mechanism includes an axial magnet embedded in the joint; the elastic reset mechanism includes a rubber band connected to the side of the joint, and the rubber band is used to provide a reset force to make the motion lever stand upright again.

5. The automatic centering and propeller alignment device for a drone parking platform according to claim 1, characterized in that, The fixed lever has a downward pressing end face. When the moving lever moves in the opposite direction to the position of the fixed lever, the fixed lever presses the moving lever to flip downward.

6. The automatic centering and propeller alignment device for a drone parking platform according to claim 1, characterized in that, The fixed drone support has a rectangular frame structure, and its four corners are respectively connected to the motor-driven end module and the motorless end module in the X and Y directions.

7. The automatic centering and propeller alignment device for a drone parking platform according to claim 1, characterized in that, The base frame is a rectangular frame structure, the centering mechanism is located in the inner area of ​​the rectangular frame, and the annular track is fixed to the rectangular frame by support wheels or support seats.

8. A method for automatic centering and propeller alignment of a UAV using the apparatus described in any one of claims 1 to 7, characterized in that, Includes the following steps: The drone landed on the fixed drone support; The drone centering mechanism is activated, and the drive motors of the X and Y direction centering components drive the positive and negative threaded rods to rotate, driving the fixed drone bracket to move the drone to the center of the base frame. The propeller alignment mechanism is activated, driving the motion lever to move forward along the circular track. The motion lever remains upright under the action of the magnetic positioning mechanism, thus moving the drone propellers. When the motion lever moves forward to the preset position, it is driven to move in the opposite direction. During the reverse movement, the motion lever touches the fixed lever and is pressed down to flip to the low position.

9. The method according to claim 8, characterized in that, Before activating the propeller alignment mechanism, a detection is also included to confirm that the UAV has been pushed to the center position of the chassis by the UAV centering mechanism.

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