Unmanned aerial vehicle high-precision transfer and guiding docking device and method

Abstract

The application discloses a high-precision moving and guiding butt joint device and method for an unmanned plane, and belongs to the technical field of unmanned plane automatic assembly and testing. The device realizes guiding and positioning of an unmanned plane bracket loaded with an unmanned plane through a guiding and positioning assembly, realizes rigid lifting and supporting of the unmanned plane through a plurality of three-dimensionally moving supporting table assemblies in cooperation with profiled supporting blocks, realizes stable moving in cooperation with a ground rail assembly, and realizes whole process control through a control console, so that the unmanned plane is accurately moved to a target bearing tool of a gravity center measuring device, accurate butt joint of the unmanned plane and the bearing tool is realized, and problems existing in manual hoisting and moving of the unmanned plane are solved.

Description

Technical Field

[0001] This invention relates to the field of automated assembly and testing technology for unmanned aerial vehicles (UAVs), specifically to a high-precision transfer and guiding docking device and method for UAVs, used for high-precision transfer and guiding docking of the entire UAV in a pulsed UAV production line. Background Technology

[0002] Measuring the weight and center of gravity of a drone requires transferring it to a measurement platform, which is typically done manually. Manual lifting has several drawbacks: First, it's difficult to maintain a level drone during lifting. Swaying rigging makes precise positioning of the drone with the load-bearing fixture on the measurement platform challenging, with repeatability errors often exceeding 2mm, failing to meet the consistency requirements of precision measurement. Second, when using soft-locking for clamping, drone center of gravity shifts, causing deflection and requiring repeated adjustments to ensure levelness, with each adjustment taking over 30 minutes, severely impacting production efficiency. Third, lifting operations are highly dependent on operator skill, increasing the risk of collisions with the load-bearing fixture on the measurement platform, causing indentations, scratches, or even structural damage to the drone's composite material surface. More seriously, there is a risk of the drone accidentally falling during lifting, resulting in product damage and personnel injury.

[0003] Therefore, there is an urgent need for a high-precision, high-stability automated transfer device that can replace manual hoisting and overcome the aforementioned defects of manual hoisting. Summary of the Invention

[0004] The technical problem to be solved: To overcome the shortcomings of existing technologies, this invention provides a high-precision transfer and guiding docking device for unmanned aerial vehicles (UAVs). A guiding and positioning component guides and positions the UAV-loaded carrier. Multiple three-dimensionally moving support platform components, in conjunction with conformal support blocks, rigidly support the UAV, and a ground rail component enables stable displacement. The process is controlled via a control console, thereby precisely transferring the UAV to the target mounting fixture on a center of gravity measuring device. This achieves accurate docking between the UAV and the mounting fixture, solving the problems associated with manual lifting and transfer of UAVs in existing methods.

[0005] The technical solution of this invention is: a high-precision transfer and guiding docking device for unmanned aerial vehicles (UAVs), comprising: The ground rail assembly consists of two parallel sliding rails, both of which are fixedly installed on the ground. Four support platform assemblies are slidably installed on the ground rail assembly. Two support platform assemblies are installed on each ground rail assembly, and the support platform assemblies on the two ground rail assemblies are arranged facing each other. The support platform assemblies have a Z-axis up and down lifting function, an X-axis sliding function along the ground rail assembly, and a Y-axis spatial extension function perpendicular to the rail. Four conformal support blocks are installed at the Y-direction output end of each support platform assembly, serving as grippers to support the drone; the conformal support blocks and the support platform assembly work together to form a transfer device, which is used to rigidly clamp the drone and move it along the track of the ground rail assembly. The guide and positioning component is installed between two ground rail components and close to the starting end of the ground rail components. The guide and positioning component is used to guide the drone carrier carrying the drone into the transfer device area in the horizontal plane in the Y direction, measure the position information in the X direction, and limit the movement in the X direction. The control console receives the drone's position information from the guidance and positioning components, determines whether the drone has reached its initial position, controls the X-axis limit of the guidance and positioning components, and controls the various transfer devices to collaboratively grab the drone and move it onto the bearing fixture of the center of gravity measurement platform.

[0006] A further technical solution of the present invention is: each ground rail assembly includes: Two bases are set in parallel and are installed horizontally on the ground by installing leveling components; Two tracks correspond one-to-one with two bases. The tracks are horizontally installed on the bases via a support plate. The support plate and the bases are fixedly connected, and the tracks and the support plate are also fixedly connected. The tracks provide slideways for the support platform assembly. Limiting blocks are provided at both ends of the tracks to prevent the support platform assembly from sliding off the tracks. A rack is located on the inside of a track and is fixed to a support plate. The rack provides gear transmission for the support platform assembly to slide along the track.

[0007] A further technical solution of the present invention is: the support platform assembly includes: The support platform, which serves as an installation frame, is slidably mounted on the ground rail assembly. The bottom of the support platform is equipped with multiple sliders, which are slidably connected to the rail. And the X-axis motion assembly, Y-axis telescopic assembly, and Z-axis lifting assembly installed on the support platform, wherein: The X-axis motion assembly is used to drive the support platform to move along the track. The X-axis motion assembly includes an X-axis servo motor. A gear is mounted on the output shaft of the X-axis servo motor, and the gear meshes with a rack. The Z-axis lifting assembly includes a Z-axis linear electric cylinder, with a lifting plate installed at the end of its output shaft. The lifting plate is horizontally positioned directly above the top surface of the support platform, and the lifting plate and the support platform are slidably connected up and down through multiple guide columns. The Y-axis telescopic assembly is mounted on the lifting plate. The Y-axis telescopic assembly includes a Y-direction linear electric cylinder. A conformal support block is installed at the end of the output shaft of the Y-direction linear electric cylinder. The Y-axis telescopic assemblies of the support platform assemblies on the two sets of ground rail assemblies face each other. The X-axis servo motor, Z-axis linear electric cylinder, and Y-axis linear electric cylinder are all electrically connected to the control console and are controlled by the control console.

[0008] A further technical solution of the present invention is: the support platform is a frame structure, including a horizontally arranged bottom plate and top plate, and multiple longitudinal beams connecting the bottom plate and the top plate; The X-axis servo motor is mounted on the base plate and located on the outside of multiple longitudinal beams. The output shaft of the X-axis servo motor passes vertically through the base plate, and the gear is located below the base plate. The Z-axis linear electric cylinder is installed in the middle of the base plate. The output shaft of the Z-axis linear electric cylinder extends vertically through the top plate and is fixedly connected to the lifting plate. Four guide columns are evenly distributed on the lower surface of the lifting plate. The guide columns slide vertically through the top plate and the base plate via guide sleeves. The output shaft of the Z-axis linear electric cylinder is parallel to the guide columns. The Y-axis linear electric cylinder is mounted on the lifting plate. The output shaft end of the Y-axis linear electric cylinder is fixedly connected to one end of the telescopic column through a connecting plate. The telescopic column is slidably mounted on the lifting plate through the mounting plate assembly. The sliding direction of the telescopic column is consistent with the extension and retraction direction of the output shaft of the Y-axis linear electric cylinder. A conformal support block is installed at the end of the extended end of the telescopic column.

[0009] A further technical solution of the present invention is as follows: the conformal support block includes a support connecting plate, a conformal block, and a protective pad. The support connecting plate is arranged vertically, with its upper outer end fixedly connected to the telescopic column and its lower inner end fixedly connected to the conformal block. The conformal block is an L-shaped plate, with one side plate attached and fixed to the support connecting plate, and the other side plate extending away from the support connecting plate. The surface shape of this side plate is adapted to the surface shape of the support point on the lower surface of the drone. The protective pad is bonded to the upper surface of the conformal block and is made of polyurethane material, which is used to protect the drone when it is being transferred.

[0010] A further technical solution of the present invention is: the guiding and positioning component includes four guiding and centering components and one limiting component; The four guiding and centering components are arranged in pairs, with the two pairs facing each other and equidistantly arranged to form a rectangular array. The four guiding and centering components are fixedly installed on the ground between the two ground rail components. The guiding and centering components are used to guide and center the UAV carrier after it enters the transfer device area, ensuring that the UAV is centered in the Y direction. The limiting component is installed between the two sets of guide and positioning components and is located in front of the drone carrier. The limiting component is used to detect the position information of the drone carrier after entering the transfer device and limit the position of the drone carrier, as well as to transmit the detected position information to the control console to determine whether the drone has reached the set initial position.

[0011] A further technical solution of the present invention is: the guiding alignment component includes: The centering device support assembly is installed on the ground and can be adjusted up and down. The first cylinder is a three-axis cylinder, which is mounted on the centering bracket assembly. The extension and retraction direction of the cylinder rod of the first cylinder is perpendicular to the track of the ground rail assembly, and the first thrust plate at the outer end of the cylinder rod of the first cylinder faces the UAV bracket. And the first roller, the three first rollers are mounted on the side of the first thrust plate facing the drone bracket via the first mounting bracket, and the three rollers roll in contact with the side of the drone bracket to guide it.

[0012] A further technical solution of the present invention is: the limiting component includes: The bracket assembly is fixedly installed on the ground, and the bracket assembly can be adjusted up and down. The second cylinder is a three-axis cylinder, which is mounted on the bracket assembly. The extension and retraction direction of the cylinder rod of the second cylinder faces the travel direction of the drone bracket, and the second thrust plate at the outer end of the cylinder rod of the second cylinder faces the drone bracket. The second roller, three second rollers are mounted on the side of the second thrust plate facing the drone bracket via the second mounting bracket, and the three rollers limit the front end face of the drone bracket when they come into contact with it; And a distance sensor, which is mounted on the second thrust plate via a sensor mounting plate. The distance sensor is used to measure the position information of the drone bracket, and the position information of the drone bracket corresponds to the position information of the drone.

[0013] A method for transferring and guiding a UAV using the aforementioned high-precision UAV transfer and docking device, the method comprising: The AGV transport vehicle transports the drone carrier loaded with drones to the guide and positioning component. The AGV transport vehicle continuously advances the drone carrier along the X direction and guides it through the guide and positioning component. The guidance process achieves centering in the Y direction, and the position information of the drone carrier is collected by the guide and positioning component and fed back to the control console. After the control console determines that the drone carrier has reached the initial position, it controls the AGV to stop advancing in the X direction and controls each support platform component to move differentially along the X-direction track to its respective set position. There are four set positions, which correspond to the four support points of the drone. The console controls the Y-axis extension of each support platform component, so that the four conformal support blocks correspond to the four support points on the lower surface of the drone; The control console controls the synchronous upward movement of each support platform component in the Z direction, so that the four conformal support blocks lift the drone and separate it from the drone bracket; The control console then controls each support platform component to move synchronously along the X-axis track until it reaches the designated position above the bearing fixture of the center of gravity measurement platform. The control console then controls each support platform component to move synchronously downward in the Z-axis, precisely placing the drone on the bearing fixture. The positioning structure on the bearing fixture works in conjunction with the drone to complete the final positioning.

[0014] The beneficial effects of the present invention are: The present invention provides a high-precision transfer and guiding docking device for UAVs, which is used for transfer during UAV center of gravity measurement. It can replace the traditional manual hoisting and transportation, and solves the problems of long time consumption, easy occurrence of off-center loading, low positioning accuracy and poor repeatability in manual hoisting and transportation positioning.

[0015] The high-precision transfer and guiding docking device for unmanned aerial vehicles (UAVs) provided by this invention has significant advantages over existing manual hoisting methods: By having the pulleys of the guide centering and positioning component contact and guide the movement of the UAV carrier chassis crossbeam, automatic centering in the Y direction is achieved. Combined with the distance sensor of the limit component, precise positioning in the X direction is achieved. This enables precise positioning of the UAV's initial position when entering the transfer device. Moreover, the repeatability of this positioning is much higher than that of manual hoisting, which greatly improves the docking accuracy and consistency, providing a precise guarantee for the lean production of the UAV pulse production line.

[0016] The Z-axis lifting assembly of the support platform component of this invention adopts a lifting structure with a central electric cylinder and four corner guide columns. Each support platform is independently load-bearing, exhibiting high rigidity and strong resistance to off-center loads, making it suitable for the stable lifting of medium to large-sized UAVs. Simultaneously, the independent X-axis control of the four support platform components can adapt to the support point span of different UAV models, and the conformal support blocks can be quickly replaced, demonstrating high adaptability. The Y and Z axes are directly driven by electric cylinders, resulting in fast response speed, high positioning accuracy, and significantly shortened single-transfer operation time, effectively reducing uncertainties caused by manual intervention and differences in operator skills. The flexible protective layer on the surface of the conformal support blocks effectively prevents damage to the UAV surface. Furthermore, a safety detection module can be installed on the surface of the conformal support blocks for real-time monitoring, avoiding overload risks and improving operational safety.

[0017] This invention achieves automation, precision, and lean manufacturing in UAV transfer operations, significantly reducing reliance on manual hoisting and improving the accuracy, efficiency, and consistency of UAV center of gravity measurement. For typical medium-to-large-sized UAVs, traditional hoisting methods for transferring them to the mounting fixture and positioning them are extremely time-consuming. Typical clamping methods require aligning the four clamping holes with the positioning holes on the mounting fixture one by one, using hole-shaft fit for limiting and threaded connection for fastening. In existing manual hoisting methods, the hole-shaft fit clearance is generally 0.5 mm, requiring repeated adjustments, and completing a single precise alignment often takes 1.5 hours or even longer. However, using the transfer device of this invention, one-time automatic precise positioning within 0.2 mm accuracy can be achieved, with the entire process completed automatically within 15 minutes, significantly improving operational efficiency. Personnel can then perform final inspection and thread tightening. Furthermore, for operations requiring multiple repetitive positioning, such as center of gravity measurement, the efficiency improvement is even more significant, and the consistency and reliability of repeated positioning are higher. Furthermore, due to the high positioning accuracy of the transfer device, the clamping clearance can be further reduced from the original 0.5 mm to 0.3 mm, reducing clamping and positioning errors, effectively improving the accuracy of Y-axis center of gravity measurement, and enhancing the safety of UAV launch and flight. This is especially true for dual-rocket-boosted UAVs, which are highly sensitive to Y-axis center of gravity measurement accuracy; the accuracy improvement effect brought by this invention is even more significant. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0019] Figure 1 This is a schematic diagram of the overall structure of a high-precision transfer and guiding docking device for unmanned aerial vehicles (UAVs) according to the present invention. Figure 2 This is a structural diagram of a single support platform assembly; Figure 3 A cross-sectional view of the X-axis motion assembly and the ground rail assembly in operation. Figure 4 This is an enlarged axial view of the end of the ground rail assembly; Figure 5 Schematic diagram of the Z-axis lifting assembly layout; Figure 6 This is a schematic diagram of the Y-axis telescopic component structure; Figure 7 This is a schematic diagram of the conformal support block. Figure 8This is a schematic diagram of the overall layout of the guidance and positioning components, showing the spatial relationship between the drone bracket and the guidance and positioning components. Figure 9 A schematic diagram illustrating the guiding process when the centering and positioning component rolls into contact with the outer side of the UAV bracket chassis crossbeam. Figure 10 This is a schematic diagram showing the interaction between the limiting component and the drone bracket.

[0020] In the diagram: 1. Ground rail assembly; 11. Base; 12. Rail; 13. Bearing plate; 14. Limiting block; 15. Rack; 151. Rack guard plate; 16. Ground rail pad; 17. Ground rail mounting plate; 18. First anchor bolt; 19. Connecting seat; 2. Support platform assembly; 21. Support platform; 211. Base plate; 212. Top plate; 213. Longitudinal beam; 214. Slider; 215. Crossbeam; 22. X-axis motion assembly; 221. X-axis servo motor; 222. Gear; 23. Y-axis telescopic assembly; 231. Y-axis linear electric cylinder; 232. Connecting plate; 233. Telescopic column; 234. Electric cylinder mounting side plate; 235. Locking nut; 236. Telescopic column mounting base plate; 237. Telescopic column mounting side plate; 238. Telescopic column slider; 239. Telescopic column guide rail; 24. Z-axis lifting assembly; 241. Z-axis linear electric cylinder; 242. Lifting plate; 243. Guide column; 244. Guide sleeve; 245. Fixing nut; 3. Conformal support block; 31. Support connecting plate; 32. Conformal block; 33. Protective pad; 4. Guide and positioning assembly; 41. Guide and centering assembly; 411. Centering device bracket assembly; 411-1. Centering device base plate; 411-2. Centering device column; 411-3. Centering device adjusting plate; 411-4. Centering device mounting plate; 412. First cylinder; 413. First thrust plate; 414. First roller; 415. First mounting bracket; 416. Second anchor bolt; 42. Limiting assembly; 421. Bracket assembly; 421-1. Limiting device base plate; 421-2. Limiting device column; 421-3. Limiting device adjusting plate; 422. Second cylinder; 423. Second thrust plate; 424. Second roller; 425. Second mounting bracket; 426. Distance sensor; 427. Sensor mounting plate; 5. Control console; 6. Ground; 7. Drone mount. Detailed Implementation

[0021] 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.

[0022] An embodiment of the high-precision transfer and guiding docking device for unmanned aerial vehicles (UAVs) of the present invention is as follows: Figure 1 As shown, it includes a ground track assembly 1, four support platform assemblies 2, four conformal support blocks 3, a guide and positioning assembly 4, and a control console 5.

[0023] Two ground rail components 1 are arranged in parallel as sliding tracks, laid on the concrete foundation ground 6 along the direction of the UAV pulsed production line. For example... Figure 3 , Figure 4 As shown, each ground rail assembly 1 mainly includes two bases 11, two rails 12 and a rack 15.

[0024] Two bases 11 are symmetrically arranged and horizontally mounted on the ground 6 at equal intervals using a leveling assembly. A connecting seat 19 is welded between the two bases 11 to ensure parallelism and improve rigidity. The leveling assembly includes a ground rail pad 16, a ground rail mounting plate 17, and a first anchor bolt 18. The bases 11 are fixedly mounted on the ground rail mounting plate 17, and the first anchor bolt 18 secures the ground rail mounting plate 17 to the ground. The ground rail pad 16 is placed under the ground rail mounting plate 17 and is used to adjust the levelness of the bases 11 to ensure accuracy during long-stroke movement.

[0025] Two rails 12 are installed one-to-one with two bases 11. The rails 12 are linear guides and are horizontally mounted on the bases 11 via support plates 13. The two support plates 13 are symmetrical and horizontally fixedly mounted on the two bases 11. The rails 12 are fixed to the support plates 13, and the two rails 12 are horizontal and parallel. The direction of the rails 12 is denoted as the X direction. The rails 13 provide a slide for the support platform assembly 2. Limiting blocks 14 are provided at both ends of the rails 12 to prevent the support platform assembly 2 from sliding off the rails 12, serving as travel protection. A rack 15 is installed on the inner side of one of the rails 12. The rack 15 is fixedly connected to the support plate 13 and is protected by a rack guard plate 151, which is also fixedly connected to the support plate 13. The tooth surface of the rack 15 faces away from the rail 12 mounted on the support plate 13. The rack 15 provides gear transmission for the support platform assembly 2 to slide along the rails 12.

[0026] like Figure 1 , Figure 2As shown, four independent support platform assemblies 2 are slidably installed on the ground rail assembly 1. Two support platform assemblies 2 are arranged on each ground rail assembly 1, and the support platform assemblies 2 on the two ground rail assemblies 1 are arranged facing each other. The support platform assembly 2 has a Z-axis up and down lifting function, an X-axis sliding function along the track 12 of the ground rail assembly 1, and a Y-axis telescopic function perpendicular to the track 12.

[0027] Specifically, the support platform assembly 2 includes a support platform 21 and an X-axis motion assembly 22, a Y-axis telescopic assembly 23 and a Z-axis lifting assembly 24 installed on the support platform 21.

[0028] The support platform 21 is slidably mounted on the ground rail assembly 1 as an installation frame. In this embodiment, the support platform 21 is a rectangular frame structure, including a horizontally arranged base plate 211 and top plate 212, and four longitudinal beams 213 fixedly connecting the base plate 211 and top plate 212. The four longitudinal beams 213 are perpendicular to the base plate 211 and top plate 212. A crossbeam 215 is provided on the upper surface of the base plate 211 between two adjacent longitudinal beams 213 to reinforce the support platform 21. The base plate 211, top plate 212, longitudinal beams 213, and crossbeams 215 are welded together to form a high-rigidity frame structure. Four sliders 214 are provided on the lower surface of the base plate 211, with two sliders 214 forming a row. The two sliders 214 in the same row are slidably connected to the rail 12 on the same side.

[0029] like Figure 3 , Figure 4 As shown, the X-axis motion assembly 22 drives the support platform 21 to move along the track 12. The X-axis motion assembly 22 includes an X-axis servo motor 221, and a gear 222 is mounted on the output shaft of the X-axis servo motor 221. The gear 222 meshes with the rack 15. Specifically, the X-axis servo motor 221 is mounted on the base plate 211 and located outside the multiple longitudinal beams 213. The output shaft of the X-axis servo motor 221 passes vertically through the base plate 211. The gear 222 is located below the base plate 211 and meshes with the rack 15. The X-axis servo motor 221 is controlled by the control console 5. Under the control of the control console 5, the X-axis servo motor 221 rotates, driving the gear 222 to rotate. Under the meshing action of the gear 222 and the rack 15, the support platform 21 slides along the track 12. The four X-axis servo motors 221 are independently controlled, and the synchronous or differential motion of the four sets of support platforms 21 is achieved through servo control technology. Differential motion is used to adapt to the support point span of different drone models, while synchronous motion enables the drone to move synchronously during the transfer process.

[0030] like Figure 5As shown, the Z-axis lifting assembly 24 mainly includes a Z-axis linear electric cylinder 241, a lifting plate 242, and four guide posts 243. The Z-axis linear electric cylinder 241 is installed in the middle of the base plate 211, and its output shaft extends vertically through the top plate 212. The lifting plate 242 is horizontally positioned directly above the top plate 212. The lifting plate 242 and the output shaft of the Z-axis linear electric cylinder 241 are fixedly connected by a fixing nut 245. The output shaft of the Z-axis linear electric cylinder 241 drives the lifting plate 242 to move up and down. The four guide posts 243 are evenly distributed at the four corners of the lower surface of the lifting plate 242, arranged parallel to the Z-axis linear electric cylinder 241. The top of the guide posts 243 is fixedly connected to the lifting plate 242. At the same time, the guide posts 243 are vertically slidably mounted on the top plate 212 and the base plate 211 through guide sleeves 244. Specifically, the top plate 212 and the bottom plate 211 are respectively provided with through holes through the guide posts 243, and a guide sleeve 244 is installed in each through hole. The guide post 243 slides in conjunction with the inner hole of the guide sleeve 244. The Z-axis linear electric cylinder 241 is controlled by the control console 5. Under the control of the control console 5, the output shaft of the Z-axis linear electric cylinder 241 extends and retracts vertically, controlling the lifting plate 242 to move vertically. The four guide posts 243 provide precise guidance and lateral force resistance support for the Z-axis linear electric cylinder 241 to drive the lifting. In this embodiment, the Z-axis linear electric cylinder 241 adopts a heavy-duty electric cylinder, and the maximum thrust meets the load requirement of 500kg. The four Z-axis electric cylinders are synchronously servo controlled to ensure the synchronicity, smoothness and repeatability of the lifting motion (≤±0.05mm). The structure of the central electric cylinder plus the four corner guide posts can effectively resist the eccentric torque and prevent the lifting platform from tilting.

[0031] like Figure 6 As shown, the Y-axis telescopic assembly 23 is mounted on the lifting plate 242 and moves up and down with the lifting plate 242. The Y-axis telescopic assembly 23 mainly includes a Y-axis linear electric cylinder 231, and a conformal support block 3 is installed at the end of the output shaft of the Y-axis linear electric cylinder 231. The Y-axis telescopic assemblies 23 of the support platform assemblies 2 on the two ground rail assemblies 1 face each other to achieve stable support of the UAV by the four conformal support blocks 3 on both sides of the UAV.

[0032] Specifically, the Y-axis linear electric cylinder 231 is fixedly mounted on the lifting plate 242 via the cylinder mounting side plate 234. A telescopic column 233 is installed on one side of the Y-axis linear electric cylinder 231. The telescopic column 233 is arranged parallel to the Y-axis linear electric cylinder 231 and is perpendicular to the X-direction of the track (i.e., perpendicular to the production line direction). At the same time, the telescopic column 233 is slidably mounted on the lifting plate 242 via the mounting plate assembly. The mounting plate assembly includes a telescopic column mounting base plate 236 and a telescopic column mounting side plate 237, both of which are fixed to the lifting plate 242. An L-shape is formed on the lifting plate 242. Telescopic column sliders 238 are provided on both the telescopic column mounting base plate 236 and the telescopic column mounting side plate 237. Linear telescopic column guide rails 239 are provided on both the side of the telescopic column 233 facing the telescopic column mounting base plate 236 and the side of the telescopic column 233 facing the telescopic column mounting side plate 237. The telescopic column guide rails 239 on both sides cooperate with the sliders 238 on the telescopic column mounting base plate 236 and the telescopic column mounting side plate 237 respectively, realizing the Y-axis sliding installation of the telescopic column 233. The output shaft end of the Y-axis linear electric cylinder 231 is fixedly connected to the same side end of the telescopic column 233 through a connecting plate 232. One end of the connecting plate 232 is fixedly connected to the output shaft of the Y-axis linear electric cylinder 231 through a locking nut 235, and the other end is fixedly connected to the side wall of the telescopic column 233. A conformal support block 3 is installed at the end of the telescopic column 233 connected to the output shaft of the Y-axis linear electric cylinder 231.

[0033] The Y-axis linear electric cylinder 231 is controlled by the control console 5. Under the control of the control console 5, the output shaft of the Y-axis linear electric cylinder 231 drives the telescopic column 233 to move in the same direction through the connecting plate 232, thereby realizing the extension of the conformal support block 3 to each support point on the bottom of the UAV. The Y-axis linear stroke of the telescopic column 233 is ≥1500mm.

[0034] like Figure 1 , Figure 7 As shown, four conformal support blocks 3 are installed at the Y-direction output end of each support platform assembly 2 and are fixed to the end of the telescopic column 233 by mechanical connection. The conformal support blocks 3 act as grippers to support the UAV. The conformal support blocks 3 and the support platform assembly 2 cooperate to form a transfer device, which is used to rigidly clamp the UAV and carry it along the track of the ground rail assembly 1.

[0035] Specifically, the conformal support block 3 includes a support connecting plate 31, a conformal block 32, and a protective pad 33. The support connecting plate 31 is vertically arranged, with its outer upper end fixedly connected to the telescopic column 233 and its inner lower end fixedly connected to the conformal block 32. The conformal block 32 is an L-shaped plate, with one side plate fitted and fixed to the support connecting plate 31, and the other side plate extending away from the support connecting plate 31. The surface shape of this side plate is adapted to the surface shape of the support point on the lower surface of the drone. The conformal block 32 has a fitted curved surface adapted to the support point of the drone to ensure good contact with the drone. The protective pad 33 is adhered to the upper surface of the conformal block 32. The protective pad 33 is made of polyurethane material and comes into direct contact with the drone body during drone transfer, preventing scratches on the drone surface. The conformal support block 32 can be quickly replaced according to different drone models.

[0036] like Figure 8 , Figure 9 , Figure 10 As shown, the guide and positioning component 4 is installed between the two ground rail components 1 and is located at the end of the starting end of the ground rail component 1. The guide and positioning component 4 is used to guide the drone carrier 7 loaded with the drone in the horizontal plane, measure the position information in the X direction, and limit the movement in the X direction after the drone carrier 7 enters the transfer device area.

[0037] Specifically, the guiding and positioning component 4 includes four guiding and centering components 41 and one limiting component 42. The four guiding and centering components 41 are arranged in pairs, with two pairs facing each other and equidistantly arranged to form a rectangular array. The four guiding and centering components 41 are fixedly installed on the ground between the two ground rail components 1. The guiding and centering components 41 are used to guide and center the UAV carrier 7 after it enters the transfer device area, ensuring that the UAV is centered in the Y direction. The limiting component 42 is installed between the two sets of guiding and positioning components 41 and is located in front of the UAV carrier 7 as it travels. The limiting component 42 is used to detect the position information of the UAV carrier 7 after it enters the transfer device and to limit the position of the UAV carrier 7, as well as to transmit the detected position information to the control console 5 to determine whether the UAV has reached the set initial position.

[0038] The guide centering assembly 41 mainly includes a centering bracket assembly 411, a first cylinder 412, and three first rollers 414.

[0039] The centering device bracket assembly 411 is a modular structure, installed on the ground 6, and adjustable in height to accommodate the chassis beam height of different UAV carriers 7. Specifically, the centering device bracket assembly 411 includes a centering device base plate 411-1, a centering device column 411-2, a centering device adjusting plate 411-3, and a centering device mounting plate 411-4. The centering device base plate 411-1 is fixed to the ground by second anchor bolts 416. The centering device column 411-2 is fixedly installed on the centering device base plate 411-1. The centering device adjusting plate 411-3 is adjustable in position and installed on the side wall of the centering device column 411-2 (multiple sets of mounting holes are provided on the side walls of the centering device adjusting plate 411-3 and the centering device column 411-2; the vertical position of the centering device adjusting plate 411-3 is adjusted by fasteners installed in the corresponding holes). The centering device mounting plate 411-4 is horizontally fixedly installed on top of the centering device adjusting plate 411-3, and its horizontal height can be adjusted with the centering device mounting plate 411-4. The first cylinder 412 is a three-axis cylinder, which is fixedly installed on the centering device adjusting plate 411-3. The extension and retraction direction of the cylinder rod of the first cylinder 412 is perpendicular to the rail 12 of the ground rail assembly 1. The first thrust plate 413 at the outer end of the cylinder rod of the first cylinder 412 faces the UAV bracket 7. Three first rollers 414 are installed on the side of the first thrust plate 413 facing the UAV bracket 7 through the first mounting bracket 415. The three rollers 414 roll in contact with the side of the bottom frame beam of the UAV bracket 7 to guide it.

[0040] The first cylinder 412 is controlled by the control console 5 to extend its cylinder rod to ensure the Y-axis alignment of the drone carrier 7. When the drone carrier 7 moves between the two side guide alignment components 41, the first roller 414 rolls into contact with the outer side of the chassis crossbeam of the drone carrier 7, guiding the drone carrier 7 to automatically align to the center during movement, achieving Y-axis positioning with a Y-axis alignment accuracy of ±0.1mm.

[0041] The limiting component 42 mainly includes a bracket assembly 421, a second cylinder 422, a second roller 424, and a distance sensor 426.

[0042] The bracket assembly 421 is fixedly installed on the ground 6, and the bracket assembly 421 can be adjusted up and down to adapt to the chassis height of different drone brackets 7. The bracket assembly 421 specifically includes a limiter base plate 421-1, a limiter column 421-2, and a limiter adjusting plate 421-3. The limiter base plate 421-1 is fixed to the ground by a second anchor bolt 416. The limiter column 421-2 is fixedly installed on the limiter base plate 421-1. The limiter adjusting plate 421-3 has a T-shaped structure with a horizontal top panel and a vertical plate that can be adjusted up and down and installed on the side wall of the limiter column 421-2. The vertical plate of the limiter adjusting plate 421-3 and the side wall of the limiter column 421-2 are provided with multiple sets of mounting holes. The installation height of the limiter adjusting plate 421-3 can be adjusted by adjusting the mounting hole positions of the fasteners. The second cylinder 422 is fixedly installed on the top surface of the limiter adjusting plate 421-3. The second cylinder 422 is a three-axis cylinder, and the extension and retraction direction of the cylinder rod is along the travel direction of the UAV carrier 7. The second thrust plate 423 at the outer end of the cylinder rod faces the UAV carrier 7. Three second rollers 424 are installed on the side of the second thrust plate 423 facing the UAV carrier 7 via the second mounting bracket 425. When the three second rollers 424 contact the front end face of the UAV carrier 7, they form a limit on it. The distance sensor 426 is installed above the second thrust plate 423 via the sensor mounting plate 427. The sensor mounting plate 427 is fixed between the second thrust plate 423 and the second mounting bracket 425, and the distance sensor 426 is fixedly installed on the sensor mounting plate 427. The distance sensor 426 is a contact sensor or a non-contact proximity switch. The distance sensor 426 is used to measure the position information of the UAV carrier 7 and feed it back to the control console 5. The position information of the UAV carrier 7 corresponds to the position information of the UAV.

[0043] Both the second cylinder 422 and the distance sensor 426 are electrically connected to the control console 5. The distance sensor 426 feeds back the measured position information of the drone carrier 7 to the control console 5. After the control console 5 determines that the drone has reached the set initial position, it stops the advancement of the drone carrier 7 and controls the second cylinder 422 to extend. The second roller 424 contacts the drone carrier 7 and limits its movement, completing the precise positioning in the X direction. The X-direction repeatability accuracy can reach ±0.1mm. After the X-direction positioning is completed, the control console 5 controls the support platform assembly 2 to move to the designated position for subsequent drone lifting and transfer.

[0044] The control console 5 centrally controls the movement of each servo motor and electric cylinder in the four support platform components 2, and controls the movement of each cylinder in the guide and positioning component 4. At the same time, the control console 5 is also responsible for receiving the position information fed back by the guide and positioning component 4, determining whether the UAV has reached the initial position, and after the UAV has reached the position, controlling the guide and positioning component 2 to limit the UAV carrier 7 in the X direction, and then controlling the support platform components 2 to transfer the UAV.

[0045] In this invention, each of the four support platform components 2 has independent X, Y, and Z axis adjustment capabilities. Each direction is controlled by four motors operating synchronously and controlled by an independent electrical control cabinet console 5. The whole assembly forms a large-span, highly stable three-dimensional positioning and transfer platform with a double-sided symmetrical arrangement, enabling precise transfer and guiding docking operations for large components such as UAVs.

[0046] In use, the drone carrier 7, carrying the drone, enters the guide and positioning assembly 4. Under the action of the guide and centering assemblies 41 on both sides, it achieves Y-axis centering. When the drone carrier 7 reaches the set position (i.e., the drone reaches the initial position), the limiting assembly 42 monitors and stops its movement, thus limiting its movement. The control console 5 controls the four support platform assemblies 2 to move along the track 12 to their respective set positions, which correspond to the four support points of the drone's initial position. The control console 5 controls the four support platform assemblies 2 to extend in the Y direction, so that the conformal support block 3 can support the four support points of the drone. Then, the control console 5 controls the four support platform assemblies 2 to move upward in the Z direction, so that the drone detaches from the drone carrier 7. The four support platform assemblies 2 can then work together to transfer the drone along the track 12 to the bearing fixture of the center of gravity measurement platform, achieving precise docking between the drone and the bearing fixture.

[0047] Example 2 This embodiment provides a method for transferring and guiding a UAV using the high-precision UAV transfer and guiding docking device in Embodiment 1. The method includes the following: Step 1. Determine the initial position of the drone.

[0048] The AGV (Automated Guided Vehicle) transports the drone carrier 7, loaded with drones, to the guiding and positioning component 4. The AGV continuously advances the drone carrier 7 along the X-axis, guided by the guiding and positioning component 4. The guiding process achieves centering in the Y-axis, and the position information of the drone carrier 7 is collected by the guiding and positioning component 4 and fed back to the control console 5. During this process, the transport device is in its initial state, that is, the four support platforms 21 are located at the starting end of the ground rail component 1, the Z-axis linear electric cylinder is in its lowest position, and the Y-axis linear electric cylinder is in its retracted state.

[0049] Once console 5 determines that the drone carrier has reached the set position (i.e., the drone has reached the set initial position), it controls the AGV to stop advancing in the X direction and controls the guide and positioning components 4 to restrict the X-direction position of the drone carrier 7. Console 5 then controls each support platform component 2 to move differentially along the X-direction track 12 to its respective set position, with a total of four set positions corresponding to the four support points of the drone.

[0050] Specifically, during the movement of the drone carrier 7, the first rollers 414 of the guide centering components 41 located on both sides of the carrier roll into contact with the outer side of the chassis crossbeam of the drone carrier 7, guiding the drone carrier 7 to automatically center itself during movement, achieving Y-axis positioning with a Y-axis centering accuracy of ±0.1mm. Simultaneously, the distance sensor 426 of the limit component 42 detects the position information of the drone carrier 7 and feeds it back to the control console 5. When the control console 5 determines that the drone has reached the set initial position, it stops the AGV transport vehicle from advancing and then controls the cylinder rod of the second cylinder 422 to extend and form an X-axis limit on the drone carrier 7. At this point, precise X-axis positioning is completed with an X-axis repeatability accuracy of ±0.1mm.

[0051] Step 2. Gently lift the drone to separate it from the drone carrier.

[0052] After precise positioning in the Y and X directions, the control console 5 controls the four support platform components 2 to move independently along the track of the ground rail component 1 to their respective designated positions on both sides of the drone, so that the four conformal support blocks 3 correspond to the four support points of the drone. The control console 5 controls the Y-direction extension of each support platform component 2, so that the four conformal support blocks 3 correspond to the four support points supporting the lower surface of the drone. The control console 5 controls the Z-direction synchronous upward movement of each support platform component 2, so that the four conformal support blocks 3 lift the drone and separate it from the drone carrier 7.

[0053] Specifically, after the initial position of the drone is determined, the control console 5 controls the X-axis servo motors 221 of each support platform component 2 to drive the support platform 21 to move independently along the X-axis to the designated support point position (corresponding to the support point under the drone's wing or fuselage). The designated support point position is determined according to the drone model parameters. Subsequently, the control console 5 controls the four Y-axis linear electric cylinders 231 to operate, driving their respective telescopic columns 233 to extend the conformal support block 3 towards the drone, allowing the conformal support block 3 to pass under the drone to the designated lifting position, i.e., the drone's support point position. Next, the control console 5 controls the four Z-axis linear electric cylinders 241 to rise synchronously, maintaining the same height through synchronous servo control. The conformal block 32 of the conformal support block 3 contacts the drone, lifting the drone and separating it from the drone carrier 7. The Z-axis linear electric cylinders 241 continue to rise to a safe height and then stop. The driving force of the Z-axis linear electric cylinders 241 is controlled by servo torque and adjusted according to the weight of the drone.

[0054] Step 3. Docking and transfer.

[0055] After the drone separates from the drone carrier 7, the control console 5 controls each support platform component 2 to move synchronously along the X-axis track until it moves to the designated position above the bearing fixture of the center of gravity measurement platform. The control console then controls each support platform component 2 to move synchronously downward in the Z-axis, precisely placing the drone on the bearing fixture.

[0056] Specifically, after the drone is lifted to a safe height, the X-axis servo motors 22 of the four support platform components 2 are driven synchronously, causing the support platform 21 to move synchronously along the ground rail component 1, transferring the drone from above the drone carrier 7 to the target bearing fixture (such as the bearing fixture of the centroid measuring equipment).

[0057] Upon reaching the target position, the Z-axis linear electric cylinders 241 of the four support platform components 2 descend synchronously, precisely placing the UAV onto the carrier fixture. Simultaneously, the tapered positioning pins on the carrier fixture engage with the positioning holes below the UAV to complete the final precise positioning.

[0058] After placement, the Y-axis linear electric cylinder 231 retracts, causing the conformal support block 3 to exit from under the drone. The transfer device returns to the standby position, completing a high-precision transfer and guiding docking cycle.

[0059] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-precision transfer and guiding docking device for unmanned aerial vehicles (UAVs), characterized in that, include: Two ground rail components (1) are arranged in parallel as sliding rails and are fixedly installed on the ground (6); Four support platform components (2) are slidably installed on the ground rail component (1). Two support platform components (2) are installed on each ground rail component (1), and the support platform components (2) on the two ground rail components (1) are arranged facing each other. The support platform components (2) have the Z-direction up and down lifting function, the X-direction track sliding function along the ground rail component (1), and the Y-direction space perpendicular to the track extension function. Four conformal support blocks (3) are installed at the Y-direction output end of each support platform assembly (2) and serve as grippers to support the UAV. The conformal support blocks (3) and the support platform assembly (2) cooperate to form a transfer device, which is used to rigidly clamp the UAV and carry it along the track of the ground rail assembly (1). The guide positioning component (4) is installed between the two ground rail components (1) and close to the starting end of the ground rail component (1). The guide positioning component (4) is used to guide the drone carrier (7) loaded with drones in the horizontal plane, measure the position information in the X direction and limit the X direction after the drone carrier (7) loaded with drones enters the transfer device area. And the console (5), which is used to receive the position information fed back by the guide positioning component (4), determine whether the UAV has reached the initial position, control the X-direction limit of the guide positioning component (4), and control the various transfer devices to cooperate in grabbing the UAV and moving the UAV to the bearing fixture of the center of gravity measurement platform.

2. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 1, characterized in that, Each ground rail assembly (1) includes: Two bases (11) are set in parallel and are installed horizontally on the ground (6) by installing leveling components; Two tracks (12) correspond one-to-one with two bases (11). The tracks (12) are horizontally installed on the bases via a support plate (13). The support plate (13) and the bases (11) are fixedly connected, and the tracks (12) and the support plate (13) are fixedly connected. The tracks (13) are used to provide a slide for the support platform assembly (2). Limiting blocks (14) are provided at both ends of the tracks (12). The limiting blocks (14) are used to prevent the support platform assembly (2) from sliding off the tracks (12). A rack (15) is disposed on the inner side of a track (12). The rack (15) is fixed to the bearing plate (13). The rack (15) provides gear transmission for the support platform assembly (2) to slide along the track (12).

3. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 2, characterized in that, The support platform assembly (2) includes: The support platform (21) is slidably mounted on the ground rail assembly (1) as an installation frame. The bottom of the support platform (21) is provided with multiple sliders (214), which are slidably connected to the rail (12). And the X-axis motion assembly (22), Y-axis telescopic assembly (23), and Z-axis lifting assembly (24) installed on the support platform (21), wherein: The X-axis motion assembly (22) is used to drive the support platform (21) to move along the track (12). The X-axis motion assembly (22) includes an X-axis servo motor (221). A gear (222) is mounted on the output shaft of the X-axis servo motor (221). The gear (222) meshes with the rack (15). The Z-axis lifting assembly (24) includes a Z-axis linear electric cylinder (241), and a lifting plate (242) is installed at the end of its output shaft. The lifting plate (242) is horizontally positioned directly above the top surface of the support platform (21), and the lifting plate (242) and the support platform (21) are slidably connected up and down through multiple guide columns (243). The Y-axis telescopic assembly (23) is installed on the lifting plate (242). The Y-axis telescopic assembly (23) includes a Y-direction linear electric cylinder (231). A conformal support block (3) is installed at the end of the output shaft of the Y-direction linear electric cylinder (231). The Y-axis telescopic assemblies (23) of the support platform assemblies (2) on the two ground rail assemblies (1) face each other. The X-axis servo motor (221), Z-axis linear electric cylinder (241), and Y-axis linear electric cylinder (231) are all electrically connected to the control console (5) and controlled by the control console (5).

4. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 3, characterized in that, The support platform (21) is a frame structure, including a horizontally arranged base plate (211) and top plate (212), and multiple longitudinal beams (213) connecting the base plate (211) and top plate (212). The X-axis servo motor (221) is mounted on the base plate (211) and located outside multiple longitudinal beams (213). The output shaft of the X-axis servo motor (221) passes vertically through the base plate (211), and the gear (222) is located below the base plate (211). The Z-axis linear electric cylinder (241) is installed in the middle position on the base plate (211). The output shaft of the Z-axis linear electric cylinder (241) extends vertically through the top plate (212) and is fixedly connected to the lifting plate (242). Four guide columns (243) are evenly distributed on the lower surface of the lifting plate (242). The guide columns (243) slide vertically through the guide sleeves (244) on the top plate (212) and the base plate (211). The output shaft of the Z-axis linear electric cylinder (241) is parallel to the guide columns (243). The Y-axis linear electric cylinder (231) is mounted on the lifting plate (242). The output shaft end of the Y-axis linear electric cylinder (231) is fixedly connected to one end of the telescopic column (233) through the connecting plate (232). The telescopic column (233) is slidably mounted on the lifting plate (242) through the mounting plate assembly. The sliding direction of the telescopic column (233) is consistent with the extension direction of the output shaft of the Y-axis linear electric cylinder (231). The conformal support block (3) is installed at the end of the extended end of the telescopic column (233).

5. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 4, characterized in that, The conformal support block (3) includes a support connecting plate (31), a conformal block (32), and a protective pad (33). The support connecting plate (31) is vertically arranged, with its outer side (31) upper end fixedly connected to the telescopic column (233), and its inner side lower end fixedly connected to the conformal block (32). The conformal block (32) is an L-shaped plate, with one side plate and the support connecting plate (31) attached and fixed, and the other side plate extending away from the support connecting plate (31), and the surface shape of the side plate is adapted to the surface shape of the support point on the lower surface of the UAV. The protective pad (33) is bonded to the upper surface of the conformal block (32), and the protective pad (33) is made of polyurethane material, which is used to protect the UAV when transferring it.

6. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 1, characterized in that, The guide positioning component (4) includes four guide centering components (41) and one limiting component (42). The four guide centering components (41) are arranged in pairs, with the two pairs facing each other and equidistantly arranged to form a rectangular array. The four guide centering components (41) are fixedly installed on the ground between the two ground rail components (1). The guide centering components (41) are used to guide and center the UAV bracket (7) after it enters the transfer device area, ensuring that the UAV is centered in the Y direction. The limiting component (42) is installed between the two sets of guide positioning components (41) and is located in front of the drone carrier (7) as it moves. The limiting component (42) is used to detect the position information of the drone carrier (7) after it enters the transfer device and limit the drone carrier (7), and to transmit the detected position information to the control console (5) to determine whether the drone has reached the set initial position.

7. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 6, characterized in that, The guiding centering component (41) includes: The centering device bracket assembly (411) is installed on the ground (6) and can be adjusted up and down; The first cylinder (412) is a three-axis cylinder, which is mounted on the centering bracket assembly (411). The extension and retraction direction of the cylinder rod of the first cylinder (412) is perpendicular to the rail of the ground rail assembly (1). The first thrust plate (413) at the outer end of the cylinder rod of the first cylinder (412) faces the UAV bracket (7). And the first roller (414), the three first rollers (414) are mounted on the side of the first thrust plate (413) facing the drone bracket (7) via the first mounting bracket (415), and the three rollers (414) roll in contact with the side of the drone bracket (7) to guide it.

8. The high-precision transfer and guiding docking device for unmanned aerial vehicles according to claim 6, characterized in that, The limiting component (42) includes: The bracket assembly (421) is fixedly installed on the ground (6), and the bracket assembly (421) can be adjusted up and down; The second cylinder (422) is a three-axis cylinder, which is mounted on the bracket assembly (421). The extension and retraction direction of the cylinder rod of the second cylinder (422) faces the travel direction of the UAV bracket (7), and the second thrust plate (423) at the outer end of the cylinder rod of the second cylinder (422) faces the UAV bracket (7). The second roller (424) is mounted on the side of the second thrust plate (423) facing the drone bracket (7) via the second mounting bracket (425). When the three second rollers (424) come into contact with the front end face of the drone bracket (7), they limit its movement. And a distance sensor (426), which is mounted on the second thrust plate (423) via a sensor mounting plate (427). The distance sensor is used to measure the position information of the drone bracket (7), and the position information of the drone bracket (7) corresponds to the position information of the drone.

9. A method for transferring and guiding a UAV using the high-precision transfer and guiding docking device for a UAV as described in any one of claims 1-8, characterized in that the method... include: The AGV transport vehicle delivers the drone carrier to the guide and positioning component. The AGV transport vehicle continuously advances the drone carrier along the X-axis. The guide and positioning component guides the drone carrier, achieving centering in the Y-axis. The guide and positioning component collects the position information of the drone carrier and feeds it back to the control console. After the console determines that the drone carrier has reached the initial position, it controls the AGV to stop advancing in the X direction and controls the guide positioning component to limit in the X direction. Then, it controls each support platform component to move differentially along the X-direction track to its respective set position. There are four set positions, which correspond to the four support points of the drone. The control console controls the Y-axis extension of each support platform component, so that the four conformal support blocks correspond to the four support points on the lower surface of the drone; The control console controls the synchronous upward movement of each support platform component in the Z direction, so that the four conformal support blocks lift the drone and separate it from the drone bracket; The control console then controls each support platform component to move synchronously along the X-axis track until it reaches the designated position above the target bearing fixture on the center of gravity measurement platform. The control console then controls each support platform component to move synchronously downward in the Z-axis, precisely placing the UAV on the bearing fixture. The positioning structure on the bearing fixture works in conjunction with the UAV to complete the final positioning.

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