Unmanned aerial vehicle parking apron centering device

Abstract

The utility model discloses an unmanned aerial vehicle parking apron centering device which comprises a parking platform used for parking an unmanned aerial vehicle, two first centering rods symmetrically arranged on the top of the parking platform in the first direction, and two second centering rods symmetrically arranged on the top of the parking platform in the second direction. The two centering driving devices are installed at the bottom of the parking platform, and each centering driving device comprises a transmission belt module, a driving piece used for driving the transmission belt module to move and two execution pieces which are fixedly connected to the transmission belt module and have opposite movement directions. The centering driving device is simple in structure and low in production cost; the synchronous belt is directly driven by the driving part to drive the two execution parts to synchronously act, so that the centering rods in the same direction can be synchronously close to or away from each other, and the stability of the centering process is ensured; in addition, the two centering driving devices are arranged below the parking platform, so that the occupied area of the parking apron is reduced, and the parking apron is suitable for the development prospect of small and light centering devices.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV equipment, and particularly relates to a centering device for a UAV landing pad. Background Art

[0002] When a UAV lands on a landing pad, a centering mechanism must be used to enable the UAV to accurately land at the target position.

[0003] A UAV landing pad centering device disclosed in the authorized announcement number CN220616242U includes two lateral centering levers, two longitudinal centering levers, and two sets of lateral transmission components and two sets of longitudinal transmission components respectively used to drive the corresponding centering levers to move towards each other, and the four sets of transmission components are respectively arranged at the edges of the bottom of the workbench. This centering device not only has a complex structure and high cost, but also has a large overall occupied space of the landing pad due to the transmission components being arranged at the edges of the workbench. Summary of the Invention

[0004] In order to overcome the above defects, the utility model provides a UAV landing pad centering device, which has a simple structure and a small occupied space.

[0005] The technical solution adopted by the utility model to solve its technical problems is: to provide a UAV landing pad centering device, including a landing platform for docking the UAV, with the directions of two midlines perpendicular to each other and intersecting on the top surface of the landing platform being the first direction and the second direction respectively, and further including: two first centering levers symmetrically arranged along the first direction on the top of the landing platform, two second centering levers symmetrically arranged along the second direction on the top of the landing platform, and two centering driving devices installed at the bottom of the landing platform, the centering driving device including a belt transmission module, a driving member for driving the belt transmission module to move, and two actuating members fixedly connected to the belt transmission module and having opposite movement directions;

[0006] One of the belt transmission modules is arranged along the first direction, and the two first centering levers are respectively connected to the two actuating members of the belt transmission module; the other belt transmission module is arranged along the second direction, and the two second centering levers are respectively connected to the two actuating members of the belt transmission module.

[0007] As a further improvement of the utility model, the belt transmission module includes a synchronous belt and two synchronous belt pulleys, the two synchronous belt pulleys are arranged at two end points corresponding to the direction of the belt transmission module, the synchronous belt is wound around the two synchronous belt pulleys, and the two actuating members are respectively connected to two parts of the synchronous belt with opposite movement directions corresponding to them.

[0008] As a further improvement of the utility model, the driving parts are all pen-type electric cylinders and are arranged in the same direction as the corresponding transmission belt module. The output shaft of the pen-type electric cylinder is connected to one of the corresponding actuators, and the synchronous belt is driven to move by driving the actuator to move in the horizontal direction.

[0009] As a further improvement of the present invention, the bottoms of the two first centering rods and the two second centering rods are fixed with connecting pieces, the lower ends of the connecting pieces extend to the bottom of the parking platform and are fixedly connected to the corresponding actuators.

[0010] As a further improvement of the utility model, it also includes a fixing plate, which is connected to the bottom of the parking platform through a plurality of support columns, and a space for installing two centering drive devices is formed between the fixing plate and the parking platform, and the two centering drive devices are respectively arranged in the space through mounting parts, and the two mounting parts are rectangular frame structures, and are respectively arranged corresponding to the two transmission belt modules;

[0011] The mounting member is provided with a through slot along its length direction and two guide slots are provided on the top surface at intervals, corresponding to:

[0012] The two synchronous belt wheels are arranged at the two ends of the through slot and are rotatably connected to the mounting member through a rotating bearing, so that the synchronous belt is placed in the through slot;

[0013] The two actuators are respectively arranged corresponding to the two guide grooves, and a synchronous belt pressure plate is fixed to the bottom of the actuator. The lower ends of the two synchronous belt pressure plates pass through the corresponding guide grooves and are respectively fixedly connected to the two parts of the synchronous belt.

[0014] As a further improvement of the utility model, four guide rails are provided on the top surface of the mounting member, and the four guide rails are opposite to each other in pairs and are respectively provided on both sides of the width direction of the two guide through grooves;

[0015] The actuator is slidably arranged on the corresponding guide rail via a slider.

[0016] As a further improvement of the present invention, both ends of the actuator in the width direction extend outside the two sides of the mounting member in the width direction, and one end thereof is bent downward to form a detection portion, and a position sensor is provided on a side wall of the mounting member facing the detection portion;

[0017] A connecting plate is provided at the bottom of the other end of any one of the two actuators of the same centering drive device, and the end of the output shaft of the corresponding driving member is connected to the connecting plate on the actuator through a horizontally arranged pin shaft.

[0018] As a further improvement of the present utility model, avoidance holes for the driving members arranged along the second direction and the first direction to pass through are respectively formed on the mounting members arranged along the first direction and the second direction.

[0019] As a further improvement of the present utility model, support bosses are respectively provided at both ends of the mounting member arranged along the first direction, and the two corresponding synchronous belt wheels are rotatably arranged on the support bosses, so that the synchronous belt arranged along the first direction is located above the synchronous belt arranged along the second direction.

[0020] As a further improvement of the present utility model, a surrounding plate is provided around the outer periphery of the fixed plate and the parking platform, so that the space forms a closed space.

[0021] The beneficial effects of the present utility model are as follows:

[0022] 1. By driving the movement of the centering rods in two directions respectively through two centering driving devices with the same structure, the driving structure is simple and the production cost is low;

[0023] 2. By directly driving the synchronous belt through the driving member to drive the two actuating members to act synchronously, the centering rods in the same direction can be synchronously approximated or separated, ensuring the stability of the centering process;

[0024] 3. By arranging the two centering driving devices below the parking platform, the occupied area of the apron is reduced, which is suitable for the development prospect of small and lightweight centering devices. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the state of docking an unmanned aerial vehicle of the present utility model;

[0026] Figure 2 It is a schematic diagram of the structure of the present utility model without a parking platform;

[0027] Figure 3 It is a schematic diagram of the structure of the centering driving device of the present utility model;

[0028] Figure 4 It is a schematic diagram of the structure of the centering driving device of the present utility model without a mounting member.

[0029] Combined with the drawings, the following description is made:

[0030] 1. Drone; 2. Parking platform; 3. First centering rod; 4. Second centering rod; 5. Belt drive module; 51. Synchronous belt; 52. Synchronous belt pulley; 521. Rotating bearing; 6. Driving member; 61. Pin shaft; 7. Executing member; 71. Synchronous belt pressing plate; 72. Slide block; 73. Detection part; 74. Connecting plate; 8. Connecting member; 9. Fixed plate; 91. Support column; 10. Mounting member; 101. Through slot; 102. Guide slot; 103. Guide rail; 104. Avoidance hole; 105. Support boss; 11. Position sensor; 12. Enclosure panel. Detailed implementation mode

[0031] The following will describe in detail a preferred embodiment of the present utility model in conjunction with the accompanying drawings.

[0032] Refer to Figures 1 to 4 , an embodiment of a double - drone parking apron centering device provided by the present utility model includes a parking platform 2 for docking the drone 1, two first centering rods 3, two second centering rods 4 arranged on the top of the parking platform 2, and two centering driving devices installed at the bottom of the parking platform 2. The two centering driving devices are respectively used to drive the actions of the two first centering rods 3 and the two second centering rods 4. A fixed plate 9 is connected to the bottom of the parking platform 2 through a plurality of support columns 91. A space for installing the two centering driving devices is formed between the fixed plate 9 and the parking platform 2. The two centering driving devices are respectively arranged in this space through the mounting members 10, and the arrangement of the plurality of support columns 91 is used to ensure the stability of the parking platform 2.

[0033] For the convenience of description, the directions of two mutually perpendicular and intersecting center lines on the top surface of the parking platform 2 are respectively defined as the first direction and the second direction. Specifically:

[0034] The two first centering rods 3 are symmetrically and spaced along the first direction on the top of the parking platform 2, and the two second centering rods 4 are symmetrically and spaced along the second direction on the top of the parking platform 2. Correspondingly, the two centering driving devices are respectively arranged along the first direction and the second direction. It can be understood that the two centering driving devices are arranged in a "cross" shape at the bottom of the parking platform 2, and the cross intersection point is the center point of the parking platform 2.

[0035] Among them, each centering drive device includes a belt module 5, a driving member 6 for driving the movement of the belt module 5, and two actuators 7 fixedly connected to the belt module 5 and having opposite movement directions; one of the belt modules 5 is arranged in the first direction, and connectors 8 are fixed to the bottoms of the two first centering rods 3. The lower ends of the connectors 8 extend to the bottom of the parking platform 2 and are respectively connected to the two actuators 7 of the belt module 5; the other belt module 5 is arranged in the second direction, and connectors 8 are fixed to the bottoms of the two second centering rods 4. The lower ends of the connectors 8 extend to the bottom of the parking platform 2 and are respectively connected to the two actuators 7 of the belt module 5.

[0036] Taking the centering drive device in the first direction as an example, the two actuators 7 are arranged in central symmetry. Thus, when the driving member 6 drives the belt module 5 to move, the two actuators 7 with opposite movement directions drive the two first centering rods 3 to move synchronously in the first direction towards the direction of approaching or separating from each other, so as to achieve the centering or release of the drone 1. By using two centering drive devices with the same structure to drive the movement of the centering rods in two directions respectively, the drive structure is simple and the production cost is low; by using one driving member to drive the two actuators to act synchronously, the centering rods in the same direction can be made to approach or separate synchronously, ensuring the centering effect; in addition, by arranging the two centering drive devices below the parking platform, the occupied area of the apron is reduced, which is suitable for the development prospect of small and lightweight centering devices.

[0037] Furthermore, the two centering drive devices have the same structure. For the convenience of describing the centering drive device, the centering drive device arranged in the first direction will be taken as an example for specific description below.

[0038] Refer to Figure 3 and 4 , the belt module 5 includes a synchronous belt 51 and two synchronous belt pulleys 52. The two synchronous belt pulleys 52 are arranged at the two end points in the first direction, and the synchronous belt 51 is wound around the two synchronous belt pulleys 52. Thus, when the synchronous belt 51 rotates on the synchronous belt pulleys 52, two parts with opposite movement directions are formed on both sides of the connection center line of the two synchronous belt pulleys 52, and the two actuators 7 are respectively connected to the two parts of the synchronous belt 51. Therefore, when the synchronous belt 51 rotates clockwise, the actuators 7 respectively arranged on its two parts will move in the first direction towards the direction of approaching each other (that is, the two first centering rods 3 are centered), and vice versa, they will move away from each other (that is, the two first centering rods 3 move away). It should be noted that the synchronous belt 51 is a toothed belt and the synchronous belt pulley 52 is a toothed belt pulley, so as to enable the synchronous belt to drive the rotation of the synchronous belt pulley under the drive of an external force.

[0039] In this embodiment, the driving member 6 is a columnar pen-type electric cylinder, also known as an electric push rod. The pen-type electric cylinder is arranged beside the synchronous belt 51 along the first direction. The output shaft of the pen-type electric cylinder is connected to one of the actuators 7, and by driving the actuator 7 to move horizontally, the synchronous belt 51 is driven to rotate. That is, one of the two parts of the synchronous belt 51 serves as the driving and traction end, and at this time, the synchronous belt pulley 52 serves as the driven pulley. By selecting a pen-type electric cylinder, the layout space is fully utilized to realize the miniaturized design of the centering device, and the synchronous belt is directly driven, so that the passive forces received by the two synchronous belt pulleys are approximately the same to ensure the stability of the synchronous belt rotation; in addition, by setting the stroke of the pen-type electric cylinder, the moving distance of the actuator 7 can be controlled to adapt to the centering of different models.

[0040] Of course, it is feasible that the driving member can also be a motor, which is used to directly drive the rotation of one of the synchronous belt pulleys 52. The synchronous belt pulley 52 serves as the traction end to drive the synchronous belt 51 to rotate, but this layout may increase the height space of the centering drive device; in addition, since the drive is at the end, the power of the motor should be appropriately increased to ensure that the other end can be driven.

[0041] Furthermore, mounting members 10 are respectively arranged on the fixing plate 9 in the first direction and the second direction, and the two centering drive devices are respectively mounted on the two mounting members 10. Still taking the first direction as an example for specific description.

[0042] The mounting member 10 has a rectangular frame structure and is arranged along the length direction in the first direction, including a through slot 101 opened along the length direction, support bosses 105 respectively arranged outside the openings at both ends of the through slot 101, and two guiding through slots 102 spaced apart on the top surface.

[0043] Among them, the two synchronous belt pulleys 52 are arranged at both ends of the through slot 101 and are respectively rotatably connected to the support bosses 105 through rotating bearings 521, so that the synchronous belt 51 is placed in the through slot 101; the two actuators 7 are respectively arranged corresponding to the two guiding through slots 102, and synchronous belt pressing plates 71 are fixed at the bottoms of the actuators 7. The lower ends of the two synchronous belt pressing plates 71 pass through the corresponding guiding through slots 102 and are respectively fixedly connected to the two parts of the synchronous belt 51.

[0044] Four guide rails 103 are arranged on the top surface of the mounting member 10, and one guide rail 103 is respectively arranged on both sides in the width direction of the two guiding through slots 102; sliders 72 adapted to the two guide rails 103 on the corresponding side are arranged at the bottoms of the actuators 7, so that the actuators 7 are slidably arranged on the mounting member 10 to ensure the stability of the movement process of the two first centering rods.

[0045] One of the two actuators 7 is connected to the end of the output shaft of the driving member 6, and the other is provided with a detection portion 73 to monitor the position of the actuator 7 on the mounting member 10. Specifically, both ends of the actuator 7 in the width direction extend to the outside of the two sides of the mounting member 10 in the width direction, and one end of one of the actuators 7 is bent downward to form the detection portion 73, and the mounting member 10 is provided with a position sensor 11 on the side wall facing the detection portion 73.

[0046] A connecting plate 74 is provided at the bottom of the other end of the other actuator 7. The end of the output shaft of the driving member 6 is connected to the connecting plate 74 on the actuator 7 through a horizontally arranged pin shaft 61, so as to drive the actuator 7 to reciprocate in the first direction along the horizontal direction and drive the synchronous belt 51 to rotate.

[0047] Details: The mounting members 10 arranged along the first direction and the second direction are respectively provided with avoidance holes 104 for the driving members 6 arranged along the second direction and the first direction to pass through.

[0048] In addition, in order to avoid interference between the transmission belt module 5 in the first direction and the transmission belt module 5 in the second direction, no support bosses 105 are set at both ends of the mounting member 10 in the second direction, so that the transmission belt module 5 in the first direction is located above the transmission belt module 5 in the second direction, that is, the synchronous belt 51 set in the first direction is located above the synchronous belt 51 set in the second direction.

[0049] Furthermore, a panel 12 is provided around the outer periphery of the fixed plate 9 and the parking platform 2 to form a closed space inside, that is, the centering drive device of this embodiment is installed in the sealed space, which improves safety and has an integrated visual effect.

[0050] To sum up, the utility model drives the movement of the centering rod in two directions respectively through two centering drive devices with the same structure, and the driving structure is simple and the production cost is low; the driving member directly drives the synchronous belt to drive the two actuators to move synchronously, so that the centering rods in the same direction can move closer or farther away synchronously, thereby ensuring the stability of the centering process; in addition, by arranging the two centering drive devices under the parking platform, the occupied area of ​​the apron is reduced, which is suitable for the development prospects of small and lightweight centering devices.

[0051] In the above description, many specific details are set forth in order to fully understand the present utility model. However, the above description is only a preferred embodiment of the present utility model, and the present utility model can be implemented in many other ways different from those described herein. Therefore, the present utility model is not limited by the specific implementations disclosed above. At the same time, any person skilled in the art can make many possible changes and modifications to the technical solution of the present utility model by using the methods and technical content disclosed above without departing from the scope of the technical solution of the present utility model, or modify it into equivalent embodiments with equivalent changes. All those that do not depart from the content of the technical solution of the present utility model, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present utility model still fall within the scope of protection of the technical solution of the present utility model.

Claims

1. A drone parking apron centering device, comprising a parking platform (2) for parking a drone (1), wherein the directions of two mutually perpendicular and intersecting midlines on the top surface of the parking platform (2) are respectively a first direction and a second direction, and the device is characterized in that: Also includes: Two first centering rods (3) symmetrically arranged on the top of the parking platform (2) along a first direction, two second centering rods (4) symmetrically arranged on the top of the parking platform (2) along a second direction, and two centering drive devices installed at the bottom of the parking platform (2), the centering drive devices comprising a transmission belt module (5), a drive member (6) for driving the transmission belt module (5) to move, and two actuators (7) fixedly connected to the transmission belt module (5) and having opposite movement directions; One of the transmission belt modules (5) is arranged along a first direction, and the two first centering rods (3) are respectively connected to the two actuators (7) of the transmission belt module (5); the other transmission belt module (5) is arranged along a second direction, and the two second centering rods (4) are respectively connected to the two actuators (7) of the transmission belt module (5).

2. The UAV parking apron centering device according to claim 1, characterized in that: The transmission belt module (5) comprises a synchronous belt (51) and two synchronous pulleys (52), wherein the two synchronous pulleys (52) are arranged at two end points in a direction corresponding to the transmission belt module (5), the synchronous belt (51) is wound around the two synchronous pulleys (52), and the two actuators (7) are respectively connected to two parts of the corresponding synchronous belt (51) having opposite movement directions.

3. The UAV parking apron centering device according to claim 2, characterized in that: The driving members (6) are all pen-type electric cylinders and are arranged in the same direction as the corresponding transmission belt modules (5). The output shaft of the pen-type electric cylinder is connected to one of the corresponding actuators (7), and the synchronous belt (51) is driven to move in the horizontal direction by driving the actuator (7).

4. The UAV parking apron centering device according to claim 3, characterized in that: Connecting members (8) are fixed to the bottom of the two first centering rods (3) and the two second centering rods (4); the lower ends of the connecting members (8) extend to the bottom of the parking platform (2) and are fixedly connected to the corresponding actuators (7).

5. The UAV parking apron centering device according to claim 4, characterized in that: It also includes a fixing plate (9), the fixing plate (9) being connected to the bottom of the parking platform (2) via a plurality of support columns (91), a space for installing two centering drive devices being formed between the fixing plate (9) and the parking platform (2), the two centering drive devices being respectively arranged in the space via mounting members (10), the two mounting members (10) being in a rectangular frame structure, and being respectively arranged corresponding to the two transmission belt modules (5); The mounting member (10) is provided with a through slot (101) along its length direction and two guide slots (102) are provided on the top surface at intervals, corresponding to: The two synchronous pulleys (52) are arranged at two ends of the through slot (101), and are rotatably connected to the mounting member (10) via a rotating bearing (521) respectively, so that the synchronous belt (51) is placed in the through slot (101); The two actuators (7) are respectively arranged corresponding to the two guide grooves (102), and a synchronous belt pressure plate (71) is fixed at the bottom of each actuator (7). The lower ends of the two synchronous belt pressure plates (71) pass through the corresponding guide grooves (102) and are respectively fixedly connected to the two parts of the synchronous belt (51).

6. The UAV parking apron centering device according to claim 5, characterized in that: Four guide rails (103) are provided on the top surface of the mounting member (10), and the four guide rails (103) are opposite to each other in pairs and are respectively arranged on both sides of the width direction of the two guide through grooves (102); The actuator (7) is slidably arranged on the corresponding guide rail (103) via a slider (72).

7. The UAV parking apron centering device according to claim 6, characterized in that: The two ends of the actuator (7) in the width direction extend outside the two sides of the mounting member (10) in the width direction, and one end thereof is bent downward to form a detection portion (73); the mounting member (10) is provided with a position sensor (11) on a side wall facing the detection portion (73); A connecting plate (74) is provided at the bottom of the other end of any one of the two actuators (7) of the same centering drive device, and the end of the output shaft of the corresponding driving member (6) is transmission-connected to the connecting plate (74) on the actuator (7) via a horizontally arranged pin shaft (61).

8. The UAV parking apron centering device according to claim 7, characterized in that: The mounting members (10) arranged along the first direction and the second direction are respectively provided with avoidance holes (104) for the driving members (6) arranged along the second direction and the first direction to pass through.

9. The UAV parking apron centering device according to claim 8, characterized in that: Support bosses (105) are respectively provided at both ends of the mounting member (10) arranged along the first direction, and the two corresponding synchronous belt wheels (52) are rotatably arranged on the support bosses (105) so that the synchronous belt arranged along the first direction is located above the synchronous belt arranged along the second direction.

10. The UAV parking apron centering device according to claim 5, characterized in that: A surrounding plate (12) is provided around the outer periphery of the fixed plate (9) and the parking platform (2) so that the space forms a closed space.

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