Downward-pressing limiting device for unmanned aerial vehicle nest

Abstract

The utility model relates to the technical field of unmanned aerial vehicle nests, in particular to a downward-pressing limiting device for an unmanned aerial vehicle nest, which comprises a pressing device, a limiting support and a containing groove for containing an unmanned aerial vehicle, the pressing device, the limiting support and the containing groove are all arranged in the nest, and the pressing device is located above the containing groove and comprises a driving unit, a connecting rod mechanism and a pressing block. One end of the connecting rod mechanism is in driving connection with the driving unit, the other end of the connecting rod mechanism is hinged to the pressing block, the end, connected with the connecting rod mechanism, of the pressing block is further fixedly connected with the limiting support, and the two ends of the limiting support are hinged to the two opposite side walls in the containing groove respectively. The driving unit is used for driving the connecting rod mechanism to drive the pressing block and the limiting support to swing, so that the pressing block can downwards press and fasten the unmanned aerial vehicle located in the containing groove, the vertical freedom degree of the unmanned aerial vehicle is limited, and the situation that when the mechanical arm replaces a battery, the unmanned aerial vehicle is prone to moving, and consequently battery replacement fails is effectively avoided.

Description

Technical Field

[0001] This utility model relates to the field of unmanned aerial vehicle (UAV) nest technology, and in particular to a pressure limiting device for UAV nests. Background Technology

[0002] During drone operations, the limited battery capacity severely restricts the drone's endurance, preventing long-distance and extended standby flights. Therefore, drones need to have their batteries automatically replaced by a robotic arm inside the drone nest. To ensure the robotic arm can successfully replace the drone's battery, the drone must be secured within the nest.

[0003] Currently, patent publication number CN112141354A discloses a mobile drone nest and landing pad for automatic battery replacement of small drones. It uses a drone frame fastening device to secure the drone, which includes two drive motors and two sets of frame fixing claws. Each set of frame fixing claws is driven by a single drive motor, and the two sets of frame fixing claws move simultaneously towards each other to clamp and secure the drone. However, this drone frame fastening device can only restrict the drone's horizontal and left-right degrees of freedom, failing to restrict its vertical degrees of freedom. This results in poor drone fixation, making it easy for the drone to shift during battery replacement, leading to replacement failure. In summary, existing fastening devices for securing drones cannot restrict the drone's vertical degrees of freedom; therefore, there is an urgent need for a downward pressure limiting device that can restrict the vertical degrees of freedom of drones. Utility Model Content

[0004] One of the objectives of this utility model is to provide a pressure limiting device for drone nests, which aims to solve the technical problem that existing fastening devices used to fix drones cannot restrict the vertical degree of freedom of drones.

[0005] To achieve the above objectives, this utility model provides a downward pressure limiting device for unmanned aerial vehicle (UAV) nests, including a receiving groove, a limiting bracket, and a pressing device disposed within the nest. The pressing device is located within the nest and above the receiving groove. The pressing device includes a drive unit, a linkage mechanism, and a pressing block. One end of the linkage mechanism is drivenly connected to the drive unit, and the other end of the linkage mechanism is hinged to the pressing block. The end of the pressing block connected to the linkage mechanism is also connected and fixedly connected to the limiting bracket. The two ends of the limiting bracket... The limiting bracket is hinged to the opposite side walls of the receiving groove. The hinge axis connecting the limiting bracket to the side wall of the receiving groove is set as the first hinge axis. The first hinge axis is set horizontally and perpendicularly to the extension direction of the receiving groove. The hinge axis connecting the linkage mechanism to the pressing block is set as the second hinge axis. The first hinge axis and the second hinge axis are parallel. The driving unit is set in the nest. The driving unit is used to drive the linkage mechanism to drive the pressing block and the limiting bracket to rotate around the second hinge axis and the first hinge axis respectively, so that the pressing block can press the UAV located in the receiving groove.

[0006] Furthermore, the linkage mechanism includes a swing arm and a connecting rod. The driving unit is drivenly connected to one end of the swing arm, one end of the connecting rod is hinged to the other end of the swing arm, and the other end of the connecting rod is hinged to the clamping block. The hinge axis of the connecting rod and the swing arm is parallel to the second hinge axis.

[0007] Furthermore, the swing arm is provided with a weight-reducing groove.

[0008] Furthermore, a soft rubber pad is provided on the bottom surface of the clamping block.

[0009] Furthermore, the limiting bracket has limiting grooves for limiting the relative sides of the drone's body.

[0010] Furthermore, the limiting groove has two opposite outer walls connected to limiting seats fixed inside the machine nest. The limiting seats are located at the front end of the limiting bracket, and the extending direction of the limiting seats is horizontally and vertically arranged with the second hinge shaft. The distance between the two limiting seats forms the receiving groove.

[0011] Furthermore, the limiting seat is provided with several weight-reducing holes.

[0012] Furthermore, the clamping block has a downwardly extending connecting part at the bottom of one end of the linkage mechanism, and the connecting part is connected and fixed to the limiting bracket by fasteners.

[0013] Furthermore, the connecting part is integrally formed with the clamping block.

[0014] Furthermore, the soft rubber pad has through holes extending through its upper and lower surfaces.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0016] In use, the drone nest pressure limiting device of this utility model has two ends of the limiting bracket that are respectively hinged to the opposite side walls of the receiving groove for accommodating the drone. The hinge axis connecting the limiting bracket to the side wall of the receiving groove is set as the first hinge axis, which is set horizontally and vertically to the extension direction of the receiving groove. The hinge axis connecting the linkage mechanism to the clamping block is set as the second hinge axis, which is parallel to the first hinge axis. Based on this, when the body of the drone parked in the nest enters the receiving groove, the driving unit drives the linkage mechanism to drive the clamping block and the limiting bracket to rotate around the second hinge axis and the first hinge axis respectively. This causes the limiting bracket and the clamping block to flip forward, so that the clamping block presses the drone placed in the receiving groove, thereby restricting the drone's vertical degree of freedom. This effectively prevents the drone from easily moving and causing battery replacement failure when the robotic arm is changing the battery. When it is necessary to release the restriction of the clamping block on the vertical degree of freedom of the drone, the driving unit drives the linkage mechanism to rotate the clamping block and the limiting bracket around the second hinge axis and the first hinge axis respectively, so that the limiting bracket and the clamping block flip backward to release the clamping block from the drone. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the downward pressure limiting device for unmanned aerial vehicle (UAV) nests according to this utility model;

[0018] Figure 2 This is a schematic diagram of the clamping block of the clamping device in the clamping state according to the embodiment;

[0019] Figure 3 for Figure 2 Another structural diagram from a different angle;

[0020] Figure 4 This is a schematic diagram of the structure of the clamping device in the embodiment, with the clamping block in the released state;

[0021] Figure 5 This is a schematic diagram of the structure from another angle.

[0022] Figure 6 This is a schematic diagram of the structure of the drone involved in the embodiment;

[0023] Figure 7 This is a schematic diagram of the structure of the helipad involved in the embodiment.

[0024] Numbering in each attached figure:

[0025] 1. Receiving slot; 2. Limiting bracket; 20. Limiting slot; 3. Clamping device; 30. Drive unit; 31. Linkage mechanism; 310. Swing arm; 311. Linkage; 312. Weight reduction slot; 32. Clamping block; 320. Connecting part; 33. Linear drive module; 34. Helipad; 340. Clearance slot; 4. Support arm; 40. Support slot; 5. Limiting seat; 50. First side wall; 51. Second side wall; 52. Weight reduction hole; 6. Soft rubber pad; 60. Through hole; 7. First hinge shaft; 8. Second hinge shaft; 9. Third hinge shaft; 90. Connecting seat; 91. UAV; 910. Airframe; 911. Wing. Detailed Implementation

[0026] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0027] In the description of this utility model, it should be understood that the terms "width", "upper", "lower", "front", "rear", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0028] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0029] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0030] Please refer to Figure 1 - Figure 5This utility model provides a downward pressure limiting device for unmanned aerial vehicle (UAV) nests, including a receiving groove 1, a limiting bracket 2, and a pressing device 3 disposed within the nest. The lower end of the receiving groove 1 is provided with a supporting groove 40 communicating with it. (Refer to...) Figure 1 and Figure 6 The opposite side walls of the receiving groove 1 are respectively designated as a first side wall 50 and a second side wall 51, and the two ends of the limiting bracket 2 are respectively hinged to the first side wall 50 and the second side wall 51. The clamping device 3 is disposed in the machine nest and is located above the receiving groove 1.

[0031] The clamping device 3 includes a drive unit 30, a linkage mechanism 31, and a clamping block 32. One end of the linkage mechanism 31 is driven and connected to the drive unit 30, and the other end of the linkage mechanism 31 is hinged to the clamping block 32. The clamping block 32 is located at the front end of the linkage mechanism 31. The end of the clamping block 32 connected to the linkage mechanism 31 is also connected and fixed to the middle position of the limiting bracket 2. A downwardly extending connecting part 320 is provided at the bottom of the end of the clamping block 32 connected to the linkage mechanism 31. The connecting part 320 and the clamping block 32 are integrally formed, which can reduce the assembly process of the connecting part 320 and the clamping block 32. The connecting part and the limiting bracket 2 are connected and fixed by fasteners. Here, the hinge axis that hinges the limiting bracket 2 to the first side wall 50 or the second side wall 51 in the receiving groove 1 is set as the first hinge axis 7.

[0032] Of course, the first hinge pin 7 is horizontally and vertically arranged with respect to the extension direction of the receiving groove 1 (referring to the length direction of the receiving groove 1); here, the hinge pin that connects the linkage mechanism 31 and the clamping block 32 is set as the second hinge pin 8, and the first hinge pin 7 and the second hinge pin 8 are parallel. The drive unit 30 is fixed in the nest and is located at the rear end of the linkage mechanism 31. The drive unit 30 is used to drive the linkage mechanism 31 to drive the clamping block 32 and the limiting bracket 2 to rotate around the second hinge pin 8 and the first hinge pin 7 respectively, so that the clamping block 32 can clamp the UAV located in the receiving groove 1.

[0033] In summary, when the drone parked in the nest enters the receiving slot 1, the lower body of the drone's body 910 is located inside the receiving slot 1, but the height of the drone's wings 911 is greater than the height of the receiving slot 1. This causes the wings 911 and the upper body of the drone's body 910 to be located outside the receiving slot 1, which greatly reduces the width of the receiving slot 1. At the same time, the first sidewall 50 and the second sidewall 51 inside the receiving slot 1 can restrict the drone's body's freedom of movement in the horizontal left and right directions. Based on this, the drive unit 30 drives the linkage mechanism 31 to drive the clamping block 32 and the limiting bracket 2 to rotate around the second hinge axis 8 and the first hinge axis 7, respectively. This causes the limiting bracket 2 and the clamping block 32 to flip forward, so that the clamping block 32 presses against the top of the drone's body placed in the receiving slot 1, thereby restricting the drone's freedom of movement in the vertical direction. This effectively prevents the drone from easily moving and causing battery replacement failure when the robotic arm is changing the battery.

[0034] It should be noted that, referring to Figure 6 Using the wing 911 of the drone as the dividing line, the part of the drone body 910 below the wing is called the lower body of the drone body 910, and the part of the drone body 910 above the wing is called the upper body of the drone body 910.

[0035] Reference Figure 4 and Figure 5 When it is necessary to release the restriction of the clamping block 32 on the vertical degree of freedom of the drone, the driving unit 30 drives the linkage mechanism 31 to drive the clamping block 32 and the limiting bracket 2 to rotate around the second hinge axis 8 and the first hinge axis 7 respectively, so that the limiting bracket 2 and the clamping block 32 flip backward to release the clamping block 32 from the drone body.

[0036] In one embodiment, referring to Figure 2 - Figure 4The drive unit 30 is a drive motor; the linkage mechanism 31 includes a swing arm 310 and a connecting rod 311. The drive unit 30 is driven connected to one end of the swing arm 310, that is, the output shaft of the drive motor is driven connected to one end of the swing arm 310. Of course, the output shaft of the drive motor is parallel to the first hinge shaft 7. One end of the connecting rod 311 is hinged to the other end of the swing arm 310, and the other end of the connecting rod 311 is hinged to the pressing block 32. The hinge shaft where the connecting rod 311 and the swing arm 310 are hinged is parallel to the second hinge shaft 8 mentioned above. Here, the hinge shaft where the connecting rod 311 and the swing arm 310 are hinged is set as the third hinge shaft 9. Therefore, since the two ends of the limiting bracket 2 are respectively hinged to the first side wall 50 and the second side wall 51 in the receiving groove 1, and the pressing block 32 is connected and fixed to the limiting bracket 2, when the tail of the drone is placed in the receiving groove 1, the drive motor drives the swing arm 310 to drive the connecting rod 311 to swing around the third hinge axis 9, which can drive the limiting bracket 2 and the pressing block 32 to flip forward or backward, so that the pressing block 32 can press the top of the drone body or unlock the pressing block 32 from pressing the top of the drone body.

[0037] In one embodiment, referring to Figure 2 or Figure 3 The limiting bracket 2 has a limiting groove 20, which is used to limit the degree of freedom of the drone's body in the horizontal left and right directions, further preventing the drone from easily moving. In addition, the limiting groove 20 has a limiting seat 5 fixed in the nest on the two opposite outer walls. The limiting seat 5 is located at the front end of the limiting bracket 2, and the extension direction of the limiting seat 5 is horizontally and vertically arranged with the second hinge shaft 8 mentioned above. The distance between the two limiting seats 5 forms the receiving groove 1 mentioned above.

[0038] It should be noted that the drones parked on the landing pad 34 of the drone nest can have their bodies 910 inserted into the receiving slot 1 by a robotic arm. The robotic arm uses an existing structure and will not be described further here. Specifically, within the drone nest, the receiving slot 1 is located below the tail (rear end) of the drone parked on the landing pad 34, such as... Figure 7 As shown, a clearance groove 340 is provided on the landing pad 34 to avoid the tail of the drone. The inner diameter of the clearance groove 340 is larger than the outer diameter of the receiving groove 1. The clamping device 3 is driven to move up and down via a linear drive module 33, which in turn drives the receiving groove 1 to rise, allowing the tail of the drone 91's body 910 to enter the receiving groove 1. Furthermore, the drone in this embodiment is a multi-rotor drone disclosed in existing patent publication number CN220865682U, which is prior art and will not be described in detail here.

[0039] Reference Figure 1The bottoms of the two limiting seats 5 are respectively fixed to the opposite sides of the support arm 4 inside the machine nest, and the support arm 4 has the aforementioned support groove 40 on its upper surface. The drive unit 30 is fixed to the support arm 4 via the connecting seat 90. The clamping device 3 is fixed to the support arm 4, and the support arm 4 is driven to move up and down via the linear drive module 33, thereby enabling the clamping device 3 to move up and down.

[0040] In one embodiment, referring to Figure 1 - Figure 6 A soft rubber pad 6 is provided on the bottom surface of the clamping block 32. When the drive motor drives the swing arm 310 to swing the connecting rod 311 around the third hinge axis 9, causing the clamping block 32 to flip forward, the soft rubber pad 6 can press against the top surface of the drone body, achieving the function of soft fixation of the drone. This avoids damage to the drone due to hard contact between the clamping block 32 and the drone body, thereby improving the service life of the drone.

[0041] In addition, the soft rubber pad 6 has through holes 60 that penetrate its upper and lower surfaces. The through holes 60 can make the soft rubber pad 6 expand better, increase the flexibility of the soft rubber pad 6, reduce its hardness, and make the soft rubber pad 6 easier to contact the surface of the drone body, adapting to the curved surface structure of the human-machine body.

[0042] In one embodiment, a weight-reducing groove 312 is provided on the swing arm 310, which helps to reduce the weight of the swing arm 310; similarly, a plurality of weight-reducing holes 52 are provided on the limiting seat 5, which helps to reduce the weight of the limiting seat 5.

[0043] In summary, the working principle of this utility model is as follows:

[0044] When the UAV 91, which is parked on the landing pad 34, enters the nest, the clamping device 3 is located below the clearance groove 340 on the landing pad 34. The clamping device 3 and the support arm 4 are driven to rise by the linear drive module 33, thereby driving the receiving groove 1 to rise, so that the tail of the UAV 91's body 910 enters the receiving groove 1. At this time, the drive unit 30 drives the swing arm 310 to drive the connecting rod 311 to swing around the third hinge axis 9, which can drive the limit bracket 2 and the clamping block 32 to flip forward or backward, so that the clamping block 32 can press the top of the UAV's body or unlock the clamping block 32 pressing the top of the UAV's body.

[0045] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the content of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.

Claims

1. A pressure limiting device for unmanned aerial vehicle (UAV) nests, characterized in that, The device includes a clamping device, a limiting bracket, and a receiving slot for accommodating the drone, all located within the drone housing. The clamping device is situated above the receiving slot and comprises a drive unit, a linkage mechanism, and a clamping block. One end of the linkage mechanism is driven and connected to the drive unit, and the other end is hinged to the clamping block. The end of the clamping block connected to the linkage mechanism is also fixedly connected to the limiting bracket. Both ends of the limiting bracket are respectively hinged to opposite side walls within the receiving slot. The hinge axis connecting the limiting bracket to the side walls within the receiving slot is designated as the first hinge axis, which is horizontally and perpendicularly aligned with the extension direction of the receiving slot. The hinge axis connecting the linkage mechanism to the clamping block is designated as the second hinge axis, and the first hinge axis is parallel to the second hinge axis. The drive unit drives the linkage mechanism to rotate the clamping block and the limiting bracket around the second hinge axis and the first hinge axis, respectively, so that the clamping block can clamp the drone located within the receiving slot.

2. The unmanned aerial vehicle (UAV) nest pressure limiting device according to claim 1, characterized in that, The linkage mechanism includes a swing arm and a connecting rod. The driving unit is driven to one end of the swing arm. One end of the connecting rod is hinged to the other end of the swing arm. The other end of the connecting rod is hinged to the clamping block. The hinge axis of the connecting rod and the swing arm is parallel to the second hinge axis.

3. The unmanned aerial vehicle (UAV) nest pressure limiting device according to claim 2, characterized in that, The swing arm is provided with a weight reduction groove.

4. The unmanned aerial vehicle (UAV) nest pressure limiting device according to claim 1, characterized in that, A soft rubber pad is provided on the bottom surface of the clamping block.

5. The unmanned aerial vehicle (UAV) nest pressure limiting device according to claim 1, characterized in that, The limiting bracket has a limiting groove for limiting the relative sides of the drone's body.

6. A pressure limiting device for unmanned aerial vehicle (UAV) nests according to claim 5, characterized in that, The limiting groove has two opposite outer walls connected to limiting seats fixed inside the machine nest. The limiting seats are located at the front end of the limiting bracket, and the extending direction of the limiting seats is horizontally and vertically arranged with the second hinge shaft. The distance between the two limiting seats forms the receiving groove.

7. A pressure limiting device for unmanned aerial vehicle (UAV) nests according to claim 6, characterized in that, The limiting seat has several weight-reducing holes.

8. The unmanned aerial vehicle (UAV) nest pressure limiting device according to claim 1, characterized in that, The clamping block has a downwardly extending connecting part at the bottom of one end of the linkage mechanism, and the connecting part is connected and fixed to the limiting bracket by fasteners.

9. A pressure limiting device for unmanned aerial vehicle (UAV) nests according to claim 8, characterized in that, The connecting part is integrally formed with the clamping block.

10. A pressure limiting device for a drone nest according to claim 4, characterized in that, The soft rubber pad has through holes that penetrate its upper and lower surfaces.

Images