WO2019174211A1 - Mécanisme de positionnement et plateforme de levage de véhicule aérien sans pilote - Google Patents

Mécanisme de positionnement et plateforme de levage de véhicule aérien sans pilote Download PDF

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Publication number
WO2019174211A1
WO2019174211A1 PCT/CN2018/106005 CN2018106005W WO2019174211A1 WO 2019174211 A1 WO2019174211 A1 WO 2019174211A1 CN 2018106005 W CN2018106005 W CN 2018106005W WO 2019174211 A1 WO2019174211 A1 WO 2019174211A1
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WO
WIPO (PCT)
Prior art keywords
positioning
driving
base
driving member
carrier
Prior art date
Application number
PCT/CN2018/106005
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English (en)
Chinese (zh)
Inventor
张顺
钟志勇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880017309.8A priority Critical patent/CN110418699A/zh
Publication of WO2019174211A1 publication Critical patent/WO2019174211A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • B64F1/0297—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables adjustable to align with aircraft trajectory
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
    • B25H1/16—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top in height
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/08—Programme-controlled manipulators characterised by modular constructions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for

Definitions

  • Embodiments of the present invention relate to the field of unmanned aerial vehicle positioning technologies, and in particular, to a positioning mechanism and a landing platform.
  • the drone positioning technology of drones has important applications in the recovery, endurance, and equipment replacement of drones.
  • the current mainstream drone positioning scheme mainly uses drone flight control programs and visual equipment (eg, cameras). With the cooperation of the drone into the location of the drop point, this type of drone positioning method has the following defects:
  • the positioning accuracy of the landing point of the drone is not high, and the drop point and take-off point of the drone are difficult to guarantee at the same position;
  • an embodiment of the present invention provides a positioning mechanism with a high accuracy of landing position of a drone, a positioning mechanism without manual intervention, and a wide applicability, and a landing platform for the drone.
  • an embodiment of the present invention provides a positioning mechanism, including: a positioning component and a carrier plate mounted on the positioning component;
  • the carrier board is provided with a positioning area for parking the device to be positioned
  • the positioning component is configured to partially protrude above the carrier when positioning the device to be positioned, and the positioning component protrudes from a portion above the carrier to be positioned in the positioning area to be positioned
  • the device moves toward or away from the device to be positioned to move the device to be positioned to a designated location within the location area.
  • the positioning component includes at least two pairs of positioning members
  • each pair of positioning members is composed of two positioning members having opposite movement directions
  • the at least two pairs of positioning members are movable toward or away from the positioning area to move the device to be positioned in the positioning area to the designated position.
  • the carrier board is provided with a positioning slot that cooperates with the positioning component, and the positioning component can at least partially pass through the positioning slot.
  • the positioning member includes a pushing portion and a driving portion for driving the pushing portion, and the pushing portion can protrude above the carrier through the positioning groove, and the pushing portion is along The positioning slot moves.
  • the positioning assembly further includes a first driving mechanism mounted under the carrier, the at least two pairs of positioning members are disposed on the first driving mechanism, and are driven by the first driving mechanism Or moving away from the device to be positioned.
  • the positioning assembly further includes a base disposed under the carrier board;
  • the first driving mechanism includes a first driving member and a driving member mounting seat, the driving member mounting seat is mounted under the base, and the first driving member is mounted on the driving member mounting seat;
  • a through hole is further disposed on the base, and a driving shaft of the first driving member protrudes through the through hole to above the base.
  • the base is provided with at least two guiding portions, and the at least two guiding portion layers are disposed, and each pair of the positioning members moves in a corresponding one of the guiding portions.
  • a limiting portion for limiting the position of the first driving member is disposed in the driving member mounting seat, so that a driving shaft of the first driving member protrudes through the through hole to the base Above the seat.
  • a gear is sleeved on a driving shaft of the first driving member
  • the gear is located above the through hole, and the positioning member is provided with a tooth groove that cooperates with the gear, and the first driving mechanism drives the positioning member to move by the gear.
  • the positioning component further includes a second driving mechanism
  • the second driving mechanism includes a second driving member and a positioning post
  • the positioning post is fixedly connected to the carrier plate, the base is provided with a positioning hole, the positioning post passes through the positioning hole, and the second driving member drives the base to face along the positioning column Or moving away from the carrier.
  • an embodiment of the present invention further provides a drone landing platform including the positioning mechanism.
  • the positioning mechanism and the drone landing platform provided by the embodiments of the present invention have the following beneficial effects:
  • the UAV moves from the periphery of the UAV to the UAV through the positioning component, and moves the UAV to the designated position in the positioning area of the carrier.
  • the precise positioning of the drone is positioned, and the positioning component does not need to be manually adjusted to locate the drone.
  • the specifications of the carrier board can be designed according to the model of the drone, and the carrier boards of different specifications can be matched with the same positioning component.
  • the carrier board of the corresponding specification can be replaced with the corresponding type of drone, and the positioning mechanism is applicable. Wide range of features, compatible with a variety of models of drone positioning.
  • the positioning component can always position the drone that landed on the carrier board to the same designated position in the positioning area, strictly and accurately guarantee the take-off point of the drone every time it takes off.
  • the location is the same.
  • FIG. 1 is an overall structural diagram of a positioning mechanism according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of movement of a positioning component above a carrier board according to an embodiment of the present invention
  • FIG. 3 is an overall structural diagram of a positioning component according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of three positioning slots provided according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of a setting position of a positioning component according to an embodiment of the present invention.
  • FIG. 6 is a structural diagram of a susceptor according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of cooperation between a first driving mechanism, a positioning member, and a base according to an embodiment of the present invention
  • FIG. 8 is a structural diagram of a second driving mechanism according to an embodiment of the present invention.
  • an embodiment of the present invention provides a positioning mechanism, including: a positioning component 2 and a carrier board 1 mounted on the positioning component; the carrier board 1 is provided with a positioning area 11 for parking the device to be positioned And the positioning component 2 is used to partially protrude above the carrier 1 when positioning the device to be positioned, and the portion of the positioning component 2 protruding above the carrier surrounds the device to be positioned in the positioning area 11 and faces or deviates from the to-be-positioned The device moves to move the device to be positioned to a designated location within the location area 11.
  • the device to be positioned is a drone; the carrier 1 is used for landing of the drone, and the positioning component 2 is used for positioning the drone that is dropped in the positioning area 11 of the carrier 1 for the purpose of Position the drone to a specified location; this is usually the takeoff position when the drone takes off or the location where the drone needs to be accurately landed. For example, after the drone completes a flight plan, it needs to charge the drone to prepare for the next flight. The drone needs to be positioned to a specific charging position and connected to the charging interface.
  • the charging position is the above designated position;
  • the drone model is different, the structure of the drone base is different, and the designated position may be a designated point or a designated area in the positioning area 11, for example, the drone base is an inverted cone base, then The cone has a tip feature, and the specified position is correspondingly set to a designated point.
  • positioning the drone positioning the tip of the cone base of the drone to a specified point is to position the tip of the cone base of the drone into the designated area.
  • the accuracy is higher; for example, the bottom end of the UAV base is a wide plane, and setting the designated position to the designated area is more advantageous for the precise positioning of the drone.
  • the various mechanical components shown in Figure 2 are for illustrative purposes only and are not intended to illustrate the actual construction of the various mechanical components.
  • the positioning component 2 positions the unmanned aerial vehicle that is lowered in the positioning area 11 of the carrier board 1 when the positioning component 2 can partially protrude from the upper side of the carrier board when positioning the unmanned aerial vehicle.
  • the portion of the assembly 2 that protrudes above the carrier will move toward the drone, moving the drone to a designated location 111 within the location area 11; wherein the portion of the positioning assembly 2 that protrudes above the carrier surrounds the location area
  • the positioning component 2 protrudes from the upper portion of the carrier plate toward or away from the drone movement in at least two directions perpendicular to each other (for example, the arrow in FIG.
  • the direction of motion is the direction toward the movement of the drone); since the position where the drone landed in the positioning area 11 is difficult to predetermine, if the drone landed in the positioning area 11 far away from the center of the positioning area 11, Then, the positioning component 2 can only locate the drone from two or more non-vertical directions, and there is a possibility that the positioning dead angle exists, and the drone cannot be accurately moved to the designated position 111.
  • the preferred solution effectively circumvents the positioning component. 2 UAV problems locating dead positioning to ensure accurate positioning of the drone in the positioning area 11.
  • the positioning component 2 provided by the embodiment provides a positioning method for the unmanned aerial vehicle landing on the carrier board 1.
  • the positioning component 2 performs a wraparound mobile positioning on the unmanned aerial vehicle, and the positioning method improves the unmanned one.
  • the positioning accuracy of the machine landing point avoids the problem of positioning dead angle in the positioning of the drone;
  • the size specification of the carrier board 1 can be designed according to the size specifications of the drone, and the carrier board 1 of different sizes and specifications Can be matched with the same positioning component 2, the positioning scheme has wide applicability, and can be compatible with the positioning of various types of drones.
  • the positioning component 2 includes at least two pairs of positioning members 21; wherein each pair of positioning members 21 is composed of two positioning members 21 with opposite movement directions; at least two pairs of positioning members 21 can be Moving toward or away from the positioning area 11 to move the device to be positioned in the positioning area 11 to the designated position 111.
  • the positioning member 21 is for moving the drone that protrudes above the carrier 1 and descends onto the carrier 1 when positioning the drone to move the drone to the designated position 111 in the positioning area 11.
  • the positioning member 21 is a portion of the positioning assembly 2 that can protrude above or with the carrier board 1.
  • the positioning member 21 can be moved toward or away from the positioning area 11; when the positioning member 21 is oriented When the positioning area 11 is moved, the positioning member 21 will move the drone in the positioning area 11 to the designated position 111, and after the drone is positioned to the designated position 111, the drone positioning is completed; when the positioning member 21 is away from the positioning When the zone 11 is in motion, the unmanned drone that has been positioned will be released so that the drone can take off again.
  • the carrier board 1 is provided with a positioning slot 12 that cooperates with the positioning member 21, and the positioning member 21 can at least partially pass through the positioning slot 12.
  • the positioning member 21 includes a pushing portion 211 and a driving portion 212 for driving the pushing portion.
  • the pushing portion 211 can protrude above the carrier 1 through the positioning groove 12, and the driving portion 212 moves the pushing portion 211 along the positioning groove 12. .
  • the positioning slot 12 is used for the recovery and guiding of the pushing portion 211 of the positioning member 21: when the positioning member 21 is in the non-positioning state, the pushing portion 211 of the positioning member 21 is recovered into the positioning slot 12 or below the positioning slot 12, The top end of the pushing portion 211 does not protrude above the carrier board 1 to facilitate the drone to land on the carrier board 1 or the drone takes off again from the carrier board 1 after the unmanned aerial vehicle is positioned; when the positioning member 21 is positioned In the state, the pushing portion 211 of the positioning member 21 protrudes above the carrier 1 through the positioning slot 12, and moves along the positioning slot 12 toward the positioning area 11 to position the drone to a specified position in the positioning area 11, the positioning slot 12 As the motion guiding action of the pushing portion 211 of the positioning member 21.
  • the pushing portion 211 is used for pushing the drone to a specified position in the positioning area 11, and the driving portion 212 is configured to move under the driving of the external power source and drive the pushing portion 211 to move.
  • the pushing portion 211 is further provided with a buffering member (not shown) toward one end of the positioning portion 11 .
  • a buffering member (not shown) toward one end of the positioning portion 11 .
  • the pushing portion 211 is moved. Only the cushioning member is in direct contact with the drone to prevent the jacking portion 211 from being damaged or scratching the drone.
  • the end face of the pushing portion 211 contacting the drone may be designed as a curved surface or a plane to conform to the surface shape of the drone.
  • the ejector portion 211 is prevented from being misaligned when the drone is pushed.
  • the size of the end face of the jacking portion 211 in contact with the drone can also be designed according to the size of the drone to meet the positioning requirements of the drones of different sizes.
  • the positioning groove 12 includes a first groove portion 121 through which the pushing portion 211 passes and a second groove portion 122 through which the pushing portion 211 moves.
  • the pushing portion 211 of the positioning member 21 protrudes above the carrier plate 1 through the first groove region 121, and moves toward the drone along the second groove region 122.
  • the ejector portion 211 of the positioning member 21 moves along the second slot region 122 away from the drone to the first slot region 121, and is recycled to the first slot.
  • the top end of the jacking portion 211 does not protrude above the carrier board 1 so that the drone can take off.
  • the shape of the pushing portion 211 has various design possibilities, the shape of the first groove portion 121 through which the pushing portion 211 passes can be adapted to the pushing portions 211 of different shapes and sizes, so that the pushing portion is The 211 can pass through the first trough area 121.
  • the ejector portion 211 is moved along the second groove region 122 to obtain a larger moving range, so that the pushing portion 211 of the positioning member 21 has a larger urging portion. Large range of movement to facilitate positioning of the drone.
  • the division of the first groove area 121 and the second groove area 122 makes the positioning groove 12 more suitable for the positioning member 21, and also increases the flexibility of the carrier plate 1 when designing, and can satisfy the drone of more models. Point positioning requirements.
  • the positioning groove 12 on the carrier board 1 described above also has various arrangements.
  • part A illustrates that the positioning slots 12 on the carrier board 1 are both positioned slots 12 that are not divided into slots, and the portion B is shown as a carrier.
  • the positioning slots 12 on the first positioning slot 12 are divided into the first slot area 121 and the second slot area 122.
  • the C part indicates that the positioning slot 12 on the carrier board 1 adopts the positioning slot 12 in the A part and the B part.
  • the positioning groove 12 indicated in Part A is not divided and expanded by the groove, the movable range of the positioning member 21 is limited, but the space of the carrier 1 is saved; the positioning groove 12 indicated in Part B is divided by the groove. And expansion, the positioning range of the positioning member 21 is larger, but also occupies more space on the carrier board 1, and the C part indicates a compromise scheme that mixes the former two schemes, which can be based on actual drone positioning requirements. The preference is made in the arrangement of the three positioning grooves 12.
  • the positioning assembly 2 further includes a first driving mechanism 22 mounted under the carrier board 1. At least two pairs of positioning members 21 are disposed on the first driving mechanism 22 and are in the first driving.
  • the mechanism 22 is driven to move toward or away from the device to be positioned.
  • the device to be positioned is a drone
  • the first driving mechanism 22 is used to drive a power source for moving at least two pairs of positioning members 21, and the first driving mechanism 22 can drive at least the positioning member 21 toward or away from the unmanned person.
  • the machine moves to move the drone to a designated location within the location area 11.
  • the solid circles shown in a1, b1, c1, a2, b2, and c2 represent the positions of the positioning members 21, wherein the positioning members 21 are located at a1, a2 or b1, b2 or c1, c2, respectively.
  • the positioning members 21 at the two opposite position points constitute a pair of positioning members 21, and the two positioning members 21 constituting such a pair of positioning members are driven in opposite directions by the driving of the first driving mechanism 22.
  • the movement trajectories formed by the movement of the at least two pairs of positioning members 21 under the driving of the first driving mechanism 22 are not in the same plane, and the movement trajectories of the pair of positioning members 21 of the at least two pairs of positioning members 21 are at least The movement trajectories of the remaining pair of positioning members 21 are vertical (for example, two pairs of positioning members 21 at a1, a2, and c1, c2 in Fig. 5) to avoid the positioning member 21 in the above embodiment. There may be a problem with positioning dead ends when positioning.
  • the positioning assembly 2 further includes a base 23 disposed under the carrier plate;
  • the first drive mechanism 22 includes a first drive member 221 and a driver mount 222 ( Referring to FIG. 3), the driver mounting seat 222 is mounted under the base 23, and the first driving member 221 is mounted on the driving member mounting seat 222.
  • the base 23 is further provided with a through hole 231 for driving the first driving member 221
  • the shaft 2211 protrudes through the through hole 231 above the base 23.
  • the base 23 is for carrying a positioning member 21 for driving the positioning member 21 to move on the base 23, and the driving member mounting seat 222 is for mounting and fixing the first driving member 221.
  • a limiting portion for limiting the position of the first driving member 221 is disposed in the driving member mounting seat 222 such that the driving shaft 2211 of the first driving member 221 extends through the through hole 231.
  • the limiting portion may be a carrier plate located below the first driving member 221, and the driving shaft 2211 that supports the first driving member 221 to the first driving member 221 protrudes above the base 23 through the through hole 231.
  • the positional portion may be a limiting plate on both sides of the first driving member 221, and the first driving member 221 is clamped and fixed in the driving member mounting seat 222 from both sides of the first driving member 221 to make the first driving.
  • the driving shaft 2211 of the member 221 protrudes above the base 23 through the through hole 231.
  • the limiting portion may further extend the driving shaft 2211 of the first driving member 221 through the through hole 231 to the base 23 Any of the components is not limited to the embodiment in the embodiment.
  • the tooth groove 2121 is disposed on the transmission portion 212 of the positioning member 21, and the first driving member 221 is rotated by the driving gear 223, thereby driving the transmission portion 212 to move, thereby driving the pushing portion 211 to move.
  • the guiding portion 232 is used for guiding the movement of the positioning member 21, and at least two guiding portions 232 are layered on the base 23, and the guiding portions 232 are located in different planes, and each pair of positioning members 21 is driven by the first driving member 221. The movement is performed in a corresponding one of the guides 232.
  • the drive shaft 2211 of the previous embodiment is sleeved with one or more gears 223.
  • the gear 223 is driven by the driving of the first driving member 221, all the positioning members 21 are moved in the corresponding guiding portions 232 toward or away from the positioning area 11 to move the drone to a designated position in the positioning area 11. .
  • one gear 223 can only cooperate with the corresponding pair of positioning members 21, or one gear 223 can be matched with the plurality of pairs of positioning members 21; 21 is only matched with the corresponding one of the gears 223, and the gears 223 of the corresponding gears are the same as the pitch of the positioning member 21, and the pitches of the different gears 223 may be the same or different, and the magnitude of the pitch directly affects the gear 223.
  • the moving speed of the positioning member 21, the moving speed of the positioning member 21 determines the speed at which the positioning member 21 moves toward the drone falling in the positioning area 11; the two positioning members 21 constituting the pair of positioning members are the same gear
  • the movement speed of the two positioning members 21 constituting a pair of positioning members is the same, and the pitch of the plurality of different gears 223 can be separated from the positioning portion 11 according to the pushing portions 211 of the pair of positioning members 21 correspondingly matched with them.
  • the distance of the specified position is designed. When the distance between the thrusting portions 211 of the respective pairs of positioning members 21 when the pair of positioning members 21 are moved toward the designated position in the positioning portion 11 is always the same, the plurality of pairs of positioning members can be passed. 21 Move the drone accurately to the designated position for more accurate drone positioning.
  • the driving shaft 2211 of the first driving member 221 is provided with at least two limiting steps, and at least two limiting steps are respectively located at least at two ends of the driving shaft 2211.
  • only one gear 223 is sleeved on the driving shaft 2211 of the first driving member 221
  • only two limiting steps are provided on the driving shaft 2211
  • the gear 223 is located between the two limiting steps;
  • the first driving member 221 When a plurality of gears 223 are sleeved on the drive shaft 2211, a plurality of gears 223 are located between the limit steps of the top end and the bottom end of the drive shaft 2211, and at least one limit step is disposed between the plurality of gears 223.
  • the limit step serves to limit the position of the gear 223 that is sleeved on the drive shaft 2211, prevent axial turbulence of the gear 223 on the drive shaft 2211, and prevent motion friction between the gears 223 when the plurality of gears 223 are rotated.
  • the positioning assembly 2 further includes a second driving mechanism 24; the second driving mechanism 24 includes a second driving member 241 and a positioning post 242; the positioning post 242 is fixedly connected to the carrier 1
  • the seat 23 is provided with a positioning hole 233 through which the positioning post 23 passes, and the second driving member 24 drives the base 23 to move toward or away from the carrier 1 along the positioning post 242.
  • the second driving member 241 is configured to drive the base 23 to move along the positioning post 242, thereby driving the positioning member 21 carried by the base 23 to move the positioning member 21 through the positioning slot 12 to protrude above the carrier plate 1 to land on The drone on the carrier 1 is positioned.
  • the pedestal 23 is provided with a positioning hole 233.
  • the positioning hole 233 is located at a middle portion of the pedestal 23.
  • the positioning post 242 corresponds to the positioning hole 233.
  • the bottom end of the positioning post 242 is provided with a protrusion.
  • a plurality of positioning holes 233 are defined in the edge of the base 23, and the plurality of positioning posts 242 respectively pass through the corresponding one of the positioning holes 233, and the bottoms of the two adjacent positioning posts 242 of the plurality of positioning posts 242 The end is fixedly connected by the connecting member.
  • the second driving member 24 drives the base 23 to move along the plurality of positioning posts 242 to the bottom end of the positioning post 242
  • the base 23 is blocked by the connecting member without slipping off the positioning post, and multiple positioning is performed.
  • the cooperation of the post 242 with the plurality of positioning holes 233 makes the movement of the base 23 along the positioning post 242 more stable and reliable.
  • the second driving member 241 is a cylinder, and the piston rod of the cylinder is directly or indirectly connected to the base 2, and the cylinder 2 is driven to move up or down along the positioning post 242 when the cylinder is in operation.
  • the second driving member 241 may be any power device that can drive the base 2 to move up and down along the positioning post 242, such as a motor, a pneumatic slide, etc., and is not limited to a cylinder.
  • the positioning mechanism of the positioning mechanism for positioning the drone is: first, the second driving member 241 drives the base 23 to move upward along the positioning post 242, so that at least two of the carrying on the base 23 are carried.
  • the pushing portion 211 of the positioning member 21 protrudes above the carrier plate 1 through the positioning groove 12; secondly, the first driving member 221 drives the guiding portion of the at least two pairs of the positioning members 21 along the base 23 via the gear 223
  • the portion 232 moves, at which time the pushing portions of the at least two pairs of positioning members 21 move toward the drone that landed on the carrier board 1, and the pushing portions 211 of the at least two pairs of positioning members 21 push from the periphery of the drone.
  • the first driving member 221 drives at least two pairs of positioning members 21 to move, so that at least two The pushing portion 211 of the positioning member 21 moves away from the drone.
  • the second driving member 241 drives the base 23 to move downward, at least two pairs.
  • the positioning member 21 is recovered into the positioning groove 12 or below the positioning groove 12 to prepare the drone again. fly.
  • the embodiment of the invention further provides a drone landing platform, including the positioning mechanism in the above embodiment.
  • the drone landing platform is used for fixed-point take-off and fixed-point landing of the drone.
  • the positioning mechanism is used to locate the drop point, and the drone is moved to the designated position on the positioning mechanism.
  • the specified position may be a specific drone charging position, a load replacement position, etc., and the drone will take off directly at the designated position after the drone completes the corresponding adjustment at the designated position (for example, charging is completed at the charging position). In the same way, the drone will locate the drone in the same way after the next drone.
  • the configuration and working principle of the positioning mechanism have been described in detail in the above embodiments, and are not described in detail in this embodiment.
  • the drone landing platform of the previous embodiment further includes a support assembly 3 mounted on the support assembly 3;
  • the support assembly 3 includes a support plate 31 and a plurality of supports
  • the top end of the plurality of support columns 32 is fixedly connected to the support plate 31.
  • the bottom ends of the plurality of support columns 32 are fixedly connected with the support plate 31.
  • the plurality of support columns 31 are disposed around the positioning assembly 2, and the positioning assembly 2 is located on the carrier plate 1 and the support plate.
  • the support assembly 3 is used for the support frame of the carrier board 1 and the positioning assembly 2.
  • the support assembly 3 supports the carrier board 1 so that the surface of the carrier board 1 is in a horizontal position, which facilitates the landing of the drone and the positioning of the drone of the drone.
  • the carrier plate 1 and the support plate 32 and the plurality of support columns 32 define the range of movement of the positioning assembly 2 in the region between the carrier plate 1 and the support plate 32 and surrounded by the plurality of support columns 32, ensuring the reliability of the movement of the positioning assembly 2. And the stability of the drone landing platform structure.
  • the positioning mechanism and the drone landing platform provided by the above embodiments of the present invention have the following advancements:
  • the drone descends on the carrier board 1 and moves from the periphery of the drone to the drone through the positioning component 2 protruding from the portion above the carrier board 1 to move the drone into the positioning area 11 of the carrier board 1
  • the designated position 111 realizes accurate positioning of the drone, and the positioning component 2 does not need manual adjustment for positioning the drone.
  • the specification of the carrier board 1 can be designed according to the model of the drone, and the carrier board 1 of different specifications can be matched with the same positioning component 2, and the carrier board 1 corresponding to the corresponding specification can be applied to the drone of the corresponding model.
  • the positioning mechanism has wide applicability and is compatible with various types of drones for positioning.
  • the positioning component 2 can always position the drone that landed on the carrier board 1 to the same designated position 111 in the positioning area, strictly and accurately ensure that the drone takes off each time.
  • the location of the takeoff point is the same.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Structural Engineering (AREA)
  • Automatic Assembly (AREA)

Abstract

L'invention concerne un mécanisme de positionnement, comprenant : un ensemble de positionnement (2) et une plaque de support (1) montée sur l'ensemble de positionnement (2) ; une région de positionnement (11) est disposée sur la plaque de support (1), la région de positionnement (11) servant à la mise en place d'un appareil à positionner ; et l'ensemble de positionnement (2) est utilisé pour faire saillie partiellement au-dessus de la plaque de support (1) lors du positionnement de l'appareil à positionner, la partie de l'ensemble de positionnement (2) faisant saillie au-dessus de la plaque de support (1), enserre l'appareil à positionner dans la région de positionnement (11) et se rapproche ou s'éloigne de l'appareil à positionner, de façon à déplacer l'appareil à positionner vers une position spécifique dans la région de positionnement (11). L'appareil à positionner au-dessus est principalement un véhicule aérien sans pilote, le mécanisme de positionnement a une précision de positionnement élevée pour le positionnement d'atterrissage du véhicule aérien sans pilote, sans impliquer une intervention manuelle dans le processus de positionnement, est applicable à des véhicules aériens sans pilote de nombreux types différents, et présente une large applicabilité.
PCT/CN2018/106005 2018-03-14 2018-09-17 Mécanisme de positionnement et plateforme de levage de véhicule aérien sans pilote WO2019174211A1 (fr)

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CN111284878A (zh) * 2020-02-09 2020-06-16 青海交通职业技术学院 一种无人机运转平台
CN111687803A (zh) * 2020-06-24 2020-09-22 嘉善县惠民街道中秀手袋厂 一种箱包生产用固定装置
CN112095498A (zh) * 2020-09-07 2020-12-18 中铝矿业有限公司 便携式旋翼测绘无人机野外起降像控点航测平台
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CN114770191A (zh) * 2022-04-25 2022-07-22 博众精工科技股份有限公司 一种在线拆解治具机构、***及方法
CN114770191B (zh) * 2022-04-25 2023-08-11 博众精工科技股份有限公司 一种在线拆解治具机构、***及方法
CN114980720A (zh) * 2022-06-07 2022-08-30 迅得机械（东莞）有限公司 一种适用多种尺寸电路板的可调节式载具

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