Device positioning and grabbing device and unmanned aerial vehicle hangar

Abstract

The utility model provides a kind of device positioning and grabbing device and unmanned vehicle hangar, it is related to unmanned vehicle hangar device positioning technical field, by setting positioning component on fixed main body, positioning component can lap joint support device, positioning support device using positioning component, subsequently through the gripping fixed assembly clamping device on fixed main body, to clamp after the device is positioned, positioning is more accurate, alleviate the technical problem of insufficient positioning accuracy of the fire extinguishing bomb positioning mechanism of traditional hangar in prior art.

Description

Technical Field

[0001] This utility model relates to the field of device positioning technology in drone hangars, and in particular to a device positioning and grasping device and a drone hangar. Background Technology

[0002] The application of drone technology in firefighting is becoming increasingly widespread, playing a crucial role, especially in high-altitude firefighting and reconnaissance of hazardous areas. Modern firefighting drones are typically equipped with specialized fire extinguishing bombs, enabling them to precisely deliver extinguishing agents to control fires. To ensure continuous operational capability, firefighting drones require dedicated hangar systems to store spare fire extinguishing bombs and enable rapid resupply.

[0003] Current hangar systems primarily manage the storage of fire extinguishing bombs using mechanical grippers and positioning mechanisms. Their operation involves robotic arm grasping, sensor positioning, and automatic docking. However, in practical applications, it has been found that traditional hangar fire extinguishing bomb positioning mechanisms suffer from insufficient positioning accuracy. The mechanical grippers are prone to positional shifts during the grasping process, leading to docking difficulties during UAV resupply. This positioning deviation not only affects resupply efficiency but can also delay optimal rescue opportunities in emergency firefighting scenarios. Utility Model Content

[0004] The purpose of this invention is to provide a device positioning and grasping device and a drone hangar, so as to alleviate the technical problem of insufficient positioning accuracy of the fire extinguishing bomb positioning mechanism in the existing technology.

[0005] In a first aspect, the device positioning and gripping device provided by this utility model includes: a fixing body, a positioning component, and a gripping and fixing assembly;

[0006] The fixing body has a cavity for accommodating the device;

[0007] The positioning component is disposed on the fixed body, and the positioning component is used to support the device.

[0008] The gripping and fixing component is disposed on the fixing body, and the gripping and fixing component is configured to clamp the device to hold the device in the cavity.

[0009] In an optional implementation,

[0010] The positioning component includes a fixing block and a positioning rod;

[0011] The fixing block is connected to the fixing body;

[0012] The device has a positioning groove with the opening facing vertically downward;

[0013] One end of the positioning rod is connected to the fixing block, and the other end of the positioning rod is configured to extend into the positioning groove and overlap the outer wall of the device.

[0014] In an optional implementation,

[0015] The outer surface of the device is provided with a post-installation positioning block, and the bottom of the post-installation positioning block is provided with the positioning groove.

[0016] In an optional implementation,

[0017] The outer surface of the device is surrounded by an upper connector and a lower connector. The end of the upper connector is used to connect to the top of the rear-mounted positioning block, and the end of the lower connector is used to connect to the bottom of the rear-mounted positioning block.

[0018] In an optional implementation,

[0019] The upper connector is provided with a lifting hole.

[0020] In an optional implementation,

[0021] The gripping and fixing assembly includes a sliding component and a clamping component;

[0022] The sliding component is disposed on the fixed body;

[0023] The clamping member is slidably connected to the sliding member so that the clamping member can clamp or release the device.

[0024] In an optional implementation,

[0025] The clamping member includes a clamping part and a sliding part;

[0026] The rear-mounted positioning block is provided with a clamping hole, and the clamping part is configured to extend into the clamping hole;

[0027] The sliding part is connected to the clamping part, and the sliding part is slidably connected to the sliding member.

[0028] In an optional implementation,

[0029] The clamping part is provided with a first guide slope at the end near the clamping hole, and the clamping hole is provided with a second guide slope on the side facing the clamping part. The first guide slope and the second guide slope can abut against each other to guide the clamping part into the clamping hole.

[0030] In an optional implementation,

[0031] When the device is not clamped, the height of the clamping part is higher than the height of the clamping hole.

[0032] Secondly, the drone hangar provided by this utility model includes the device positioning and grasping device.

[0033] The device positioning and gripping device provided by this utility model sets a positioning component on a fixed body. The positioning component can connect and support the device. The positioning component is used to position the support device. Then, the device is clamped by the gripping and fixing component on the fixed body, thereby positioning and clamping the device. The positioning is more accurate and alleviates the technical problem of insufficient positioning accuracy of the traditional hangar fire extinguishing bomb positioning mechanism in the prior art. Attached Figure Description

[0034] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 A schematic diagram of the overall structure of the device positioning and gripping device provided in this embodiment of the utility model;

[0036] Figure 2 A schematic diagram of the installation structure of the fixing body, positioning component and gripping fixing assembly in the device positioning and gripping device provided in the embodiment of this utility model;

[0037] Figure 3 for Figure 1 Enlarged structural diagram at point A;

[0038] Figure 4 This is a schematic diagram of the mounting structure of the rear-mounted positioning hole in the device positioning and gripping device provided in this embodiment of the utility model.

[0039] Icons: 100-Fixed main body; 200-Positioning component; 210-Fixing block; 220-Positioning rod; 300-Grabbing and fixing assembly; 310-Sliding component; 320-Clamping component; 321-Clamping part; 322-Sliding part; 400-Component; 410-Rear-mounted positioning block; 411-Positioning groove; 412-Clamping hole; 420-Upper connector; 421-Lifting hole; 430-Lower connector; 510-First guide slope; 520-Second guide slope. Detailed Implementation

[0040] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0041] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0042] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" 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 or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of 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.

[0043] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0044] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the device positioning and gripping device provided in this embodiment includes: a fixed body 100, a positioning component 200, and a gripping and fixing component 300; the fixed body 100 is a frame structure, and a cavity for accommodating the device 400 is formed in the middle of the fixed body 100 so that the device 400 can be fixed in the cavity. In this embodiment, the device 400 is specifically set as a fire extinguishing bomb, but it can also be a battery, sensor, or other device 400 that needs to be replaced on the drone.

[0045] The positioning component 200 is disposed on the fixed body 100 and fixed on the fixed body 100. The positioning component 200 is used to connect and support the device 400. Specifically, the device 400 is hoisted and moved into the cavity in a vertically downward direction. The device 400 abuts against the positioning component 200. The positioning component 200 is used to position and support the device 400. After the positioning component 200 abuts against the device 400, the positioning component 200 can position the device 400 in the first direction and the vertical direction.

[0046] The gripping and fixing component 300 is disposed on the fixing body 100. The gripping and fixing component 300 can move relative to the fixing body 100. By moving the gripping and fixing component 300, the gripping and fixing component 300 can clamp the device 400 along the second direction to clamp the device 400 in the cavity.

[0047] It should be noted that the first direction and the second direction are both located on the same horizontal plane, and the first direction, the second direction and the vertical direction are perpendicular to each other. The first direction and the second direction are perpendicular to each other to form a horizontal plane.

[0048] The device positioning and gripping device provided in this embodiment, by setting a positioning component 200 on the fixed body 100, the positioning component 200 can support the device 400. The positioning component 200 positions the device 400 in the first direction and the vertical direction. Then, the gripping and fixing component 300 on the fixed body 100 clamps the device 400 in the second direction, thereby clamping the device 400 in the first direction, the second direction and the vertical direction, realizing three-axis positioning and clamping, and alleviating the technical problem of insufficient positioning accuracy of traditional hangar fire extinguishing bomb positioning mechanisms in the prior art.

[0049] Regarding the structure and shape of the positioning component 200, specifically:

[0050] The positioning component 200 includes a fixing block 210 and a positioning rod 220; the top of the fixing body 100 has a support plate, and the fixing block 210 is mounted on the support plate. The fixing block 210 can be fixedly mounted on the support plate by bolts.

[0051] The device 400 has a positioning groove 411 with the opening facing vertically downward. One end of the positioning rod 220 is connected to the fixing block 210, and the other end of the positioning rod 220 is configured to extend into the positioning groove 411 and overlap the device 400, so as to limit the displacement of the device 400 in the first direction and position the device 400 in the vertical direction.

[0052] The positioning groove 411 is specifically configured as a triangular groove with the groove opening facing vertically downward. The bottom of the fixing block 210 has an insertion groove with the groove opening facing the support plate. One end of the positioning rod 220 extends into the insertion groove, and the positioning rod 220 is restricted by the insertion groove and the support plate.

[0053] In an optional embodiment, a rear-mounted positioning block 410 is provided on the outer surface of the device 400, and a positioning groove 411 is provided at the bottom of the rear-mounted positioning block 410, so that the opening of the positioning groove 411 faces vertically downward. As the device 400 is vertically hoisted, the positioning rod 220 enters the positioning groove 411 and supports the device 400.

[0054] In an optional embodiment, an upper connector 420 and a lower connector 430 are arranged around the outer surface of the device 400. Both the upper connector 420 and the lower connector 430 are semi-circular structures. The ends of the upper connector 420 and the lower connector 430 are bent to form connecting edges. The connecting edges formed by the bending at the end of the upper connector 420 are bolted into the top of the rear-mounted positioning block 410, thereby connecting the upper connector 420 and the rear-mounted positioning block 410. The connecting edges formed by the bending at the end of the lower connector 430 are bolted into the bottom of the rear-mounted positioning block 410, thereby connecting the lower connector 430 and the rear-mounted positioning block 410.

[0055] It should be noted that there are two rear-mounted positioning blocks 410, which are symmetrically installed on both sides of the device 400. The upper connector 420 and the lower connector 430 can be set in multiple sets, and the rear-mounted positioning blocks 410 are connected by multiple sets of upper connectors 420 and lower connectors 430. In addition, multiple positioning grooves 411 can be set on the rear-mounted positioning blocks 410, and the number of positioning grooves 411 corresponds one-to-one with the number of positioning components 200.

[0056] In an optional embodiment, the upper connector 420 is provided with a lifting hole 421 to facilitate external lifting equipment to lift the device 400 through the lifting hole 421.

[0057] Regarding the structure and shape of the gripping fixed component 300, specifically:

[0058] The gripping and fixing component 300 includes a sliding component 310 and two clamping components 320. The sliding component 310 is disposed on the fixing body 100 and is used to provide a sliding path arranged along a second direction. Specifically, the sliding component 310 includes a slide rail and a slider. The slide rail is arranged along the second direction, and the slider is slidably connected to the slide rail. The clamping components 320 are connected to the slider, thereby enabling the clamping components 320 to move along the slide rail.

[0059] The clamping members 320 can be configured as one or more groups depending on the specific situation. Each group includes two clamping members 320. The two clamping members 320 are arranged opposite to each other on both sides of the device 400, and both clamping members 320 are slidably connected to the sliding member 310 so that both clamping members 320 can move along the second direction to clamp or release the device 400.

[0060] The clamping member 320 includes a clamping part 321 and a sliding part 322. The clamping part 321 is specifically configured as a pin, and the sliding part 322 is specifically configured as a sliding frame. The bottom end of the sliding frame is fixed on the slider, and the top end of the sliding frame is fixed with a pin.

[0061] The rear-mounted positioning block 410 is provided with a clamping hole 412, and the clamping part 321 can extend into the clamping hole 412 to clamp the device 400.

[0062] In an optional embodiment, a first guide slope 510 is provided at the end of the clamping part 321 near the clamping hole 412, and a second guide slope 520 is provided on the side of the clamping hole 412 facing the clamping part 321. The first guide slope 510 and the second guide slope 520 can abut against each other, so that the clamping part 321 can be guided into the clamping hole 412.

[0063] In an optional embodiment, when the device 400 is not clamped, the height of the clamping part 321 is higher than the height of the clamping hole 412. Under the guidance of the first guide slope 510 and the second guide slope 520, the clamping part 321 extends into the clamping hole 412, thereby lifting the device 400. The positioning groove 411 on the rear positioning block 410 disengages from the positioning rod 220, thereby accurately clamping and fixing the device 400 and eliminating errors caused by different positioning references.

[0064] The device positioning and gripping device provided in this embodiment significantly improves the positioning and gripping accuracy of the device 400 by setting a positioning component 200 on the fixed body 100.

[0065] Specifically, the positioning is achieved in the first direction: the positioning component 200 can contact the device 400 and provide stable support, thereby accurately positioning the device 400 in the first direction; the vertical positioning is achieved by the overlapping support of the positioning component 200 on the device 400, ensuring the stability of the device 400 in the vertical direction and avoiding positional deviation caused by gravity or other external forces; the clamping is achieved in the second direction: the gripping and fixing component 300 on the fixing body 100 clamps the device 400 in the second direction, further enhancing the positioning accuracy of the device 400 in the horizontal plane.

[0066] The coordinated action of the first direction, the second direction, and the vertical direction enables three-axis positioning and clamping, effectively improving the spatial positioning accuracy of the device 400.

[0067] The device positioning and gripping device provided in this embodiment achieves omnidirectional fixation of the device 400 in the first, second, and vertical directions through three-axis positioning and clamping technology, significantly improving positioning accuracy and system reliability, and effectively alleviating the problem of insufficient positioning accuracy in traditional hangar fire extinguishing bomb positioning mechanisms. At the same time, its simple structure, convenient operation, wide applicability, and good economic benefits provide a new solution for the technological development of related fields.

[0068] The drone hangar provided in this embodiment includes a device positioning and grasping device.

[0069] Since the technical effects of the drone hangar provided in this embodiment are the same as those of the device positioning and grasping device provided in the above embodiments, they will not be described again here.

[0070] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A device positioning and gripping apparatus, characterized by include: The fixed body (100), the positioning component (200), and the gripping and fixing assembly (300) are included. The fixing body (100) has a cavity for accommodating the device (400); The positioning component (200) is disposed on the fixed body (100), and the positioning component (200) is used to overlap and support the device (400); The gripping and fixing component (300) is disposed on the fixing body (100), and the gripping and fixing component (300) is configured to clamp the device (400) to hold the device (400) in the cavity.

2. The device positioning and gripping device according to claim 1, characterized in that, The positioning component (200) includes a fixing block (210) and a positioning rod (220); The fixing block (210) is connected to the fixing body (100); The device (400) has a positioning groove (411) with the opening facing vertically downward; One end of the positioning rod (220) is connected to the fixing block (210), and the other end of the positioning rod (220) is configured to extend into the positioning groove (411) and overlap the outer wall of the device (400).

3. The device positioning and gripping device according to claim 2, characterized in that, The outer surface of the device (400) is provided with a rear mounting positioning block (410), and the bottom of the rear mounting positioning block (410) is provided with the positioning groove (411).

4. The device positioning and gripping device according to claim 3, characterized in that, The outer surface of the device (400) is surrounded by an upper connector (420) and a lower connector (430). The end of the upper connector (420) is used to connect to the top of the rear-mounted positioning block (410), and the end of the lower connector (430) is used to connect to the bottom of the rear-mounted positioning block (410).

5. The device positioning and gripping device according to claim 4, characterized in that, The upper connector (420) is provided with a lifting hole (421).

6. The device positioning and gripping device according to claim 3, characterized in that, The gripping and fixing assembly (300) includes a sliding member (310) and a clamping member (320); The sliding member (310) is disposed on the fixed body (100); The clamping member (320) is slidably connected to the sliding member (310) so that the clamping member (320) can clamp or release the device (400).

7. The device positioning and gripping device according to claim 6, characterized in that, The clamping member (320) includes a clamping part (321) and a sliding part (322); The rear-mounted positioning block (410) is provided with a clamping hole (412), and the clamping part (321) is configured to extend into the clamping hole (412); The sliding part (322) is connected to the clamping part (321), and the sliding part (322) is slidably connected to the sliding member (310).

8. The device positioning and gripping device according to claim 7, characterized in that, The clamping part (321) is provided with a first guide slope (510) at the end near the clamping hole (412), and a second guide slope (520) is provided on the side of the clamping hole (412) facing the clamping part (321). The first guide slope (510) and the second guide slope (520) can abut against each other to guide the clamping part (321) into the clamping hole (412).

9. The device positioning and gripping device according to claim 8, characterized in that, When the device (400) is not clamped, the height of the clamping part (321) is higher than the height of the clamping hole (412).

10. A hangar for unmanned aerial vehicles (UAVs), characterized in that, Includes the device positioning and gripping device as described in any one of claims 1-9.

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