CN110844051B

CN110844051B - Unmanned aerial vehicle system of rising and falling

Info

Publication number: CN110844051B
Application number: CN201911199250.1A
Authority: CN
Inventors: 夏国富; 张若晗; 陈锋
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2021-04-23
Anticipated expiration: 2039-11-29
Also published as: CN110844051A

Abstract

The invention discloses an unmanned aerial vehicle landing system, and belongs to the technical field of unmanned aerial vehicles. According to the unmanned aerial vehicle lifting system, the at least two unmanned aerial vehicle lifting systems are arranged at the edge of the bottom plate of the unmanned aerial vehicle, each fixed arm, each first mechanical arm, each second mechanical arm and each mechanical claw are sequentially connected through a rotating assembly and are controlled by the corresponding pull wire, and the pull wires are controlled to contract, so that the mechanical arms and the mechanical claws on the side edge of the bottom plate of the unmanned aerial vehicle rotate upwards, all parts at the lower end of the bottom plate of the unmanned aerial vehicle can be effectively prevented from colliding with obstacles in the flying process, and the flying safety performance of the unmanned aerial vehicle is improved.

Description

Unmanned aerial vehicle system of rising and falling

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle landing system.

Background

Unmanned aerial vehicle on the existing market generally all is equipped with the undercarriage, and this undercarriage plays support, protection and fixed action at unmanned aerial vehicle takes off and descends the in-process. Most of existing unmanned aerial vehicles adopt fixed undercarriage, collision is easy to occur in the flight process of the existing unmanned aerial vehicles, especially under the condition that a lot of obstacles exist in a flight path, the fixed undercarriage of the existing unmanned aerial vehicle is easy to scratch or collide with obstacles below the existing unmanned aerial vehicle, and therefore safety risk is caused to the existing unmanned aerial vehicle; therefore, there is a need for further improvements to drones.

Through search, patent publication No.: 206750124U, published 2017, 12 and 15, patent name: a lifting base is arranged at the bottom of a machine body, a hydraulic rod fixed at the top of a fixing piece is arranged in the lifting base, the top of the hydraulic rod is simultaneously hinged with four tension rods, a bracket retraction groove and a wheel rim retraction groove are respectively arranged at the positions, corresponding to wings, of the bottom of the lifting base, a fixing bracket arranged in the bracket retraction groove is connected with the fixing piece through a front support arm and a rear support arm which are mutually hinged, the four tension rods hinged with the hydraulic rod are correspondingly hinged with each front support arm, when a hydraulic rod controller controls the hydraulic rod to ascend, as one end of each front support arm is fixedly hinged with the fixing piece, the tension rod can drive one end, hinged with the front support arm and the rear support arm, of each front support arm to ascend, the rear support arm moves upwards along with the front support arm, the fixing bracket is driven to ascend until the fixing bracket and a lifting wheel are retracted into the bracket retraction groove and the wheel rim, the retraction of the lifting wheel is completed, and the hydraulic rod can be retracted to complete the supporting action of the lifting wheel. But this application uses devices such as hydraulic stem and pull rod accomplish landing gear's receive and release action, not only have higher requirement to unmanned aerial vehicle's power, energy supply, thereby still can increase unmanned aerial vehicle's energy consumption influence duration.

In conclusion, how to overcome the defects of the existing unmanned aerial vehicle fixed undercarriage, the technical problem to be solved in the prior art is needed urgently.

Disclosure of Invention

1. Technical problem to be solved by the invention

The invention aims to overcome the defects in the prior art and provides an unmanned aerial vehicle landing system; according to the unmanned aerial vehicle, the traction wire is controlled to shrink, so that the mechanical arms and the mechanical claws on the side edge of the bottom plate of the unmanned aerial vehicle rotate upwards, collision between each part at the lower end of the bottom plate of the unmanned aerial vehicle and an obstacle in the process of flying can be effectively avoided, and the flying safety performance of the unmanned aerial vehicle is improved; in addition, in the process of controlling each mechanical arm and each mechanical claw to rotate upwards, the traction wire is buffered through the buffer wheel mounting part, and the traction wire is protected.

2. Technical scheme

In order to achieve the purpose, the technical scheme provided by the invention is as follows:

the unmanned aerial vehicle lifting system comprises an unmanned aerial vehicle bottom plate, wherein at least two fixed arms are arranged at the edge of the unmanned aerial vehicle bottom plate, each fixed arm is rotatably connected with the upper end of a first mechanical arm through a rotating assembly, the lower end of each first mechanical arm is rotatably connected with the upper end of a second mechanical arm through a rotating assembly, and the lower end of each second mechanical arm is rotatably connected with the upper end of a mechanical claw through a rotating assembly; traction wire grooves are respectively formed in the outer surfaces of the outer sides of the fixed arm, the first mechanical arm, the second mechanical arm and the mechanical claw;

one side of each fixed arm is provided with a buffer wheel mounting part, each buffer wheel mounting part comprises two longitudinal plates which are oppositely arranged, and each longitudinal plate is provided with a longitudinal groove along the height direction; two buffer wheel fixing rods are arranged between the two longitudinal plates on each buffer wheel mounting part, two ends of each buffer wheel fixing rod respectively penetrate through the longitudinal grooves on the corresponding side, and a buffer wheel spring is connected between the two buffer wheel fixing rods on each buffer wheel mounting part; each buffer wheel fixing rod penetrates through the central axis of one buffer wheel and is fixedly connected with the buffer wheel;

one end of a traction wire is connected to the lower end of the mechanical claw, and the other end of the traction wire sequentially penetrates through the traction wire grooves in the mechanical claw, the second mechanical arm, the first mechanical arm and the fixed arm and then sequentially bypasses two buffer wheels in the buffer wheel mounting part.

As a further improvement of the invention, the other end of each traction wire is respectively wound and connected to a wire control wheel, and the wire control wheel is in transmission connection with a driving motor in the unmanned aerial vehicle.

As a further improvement of the invention, the outer circumferential surface of the wire control wheel is provided with an annular groove for winding each traction wire respectively.

As a further improvement of the invention, the rotating assembly comprises a shaft center rod, a shaft center rod spring is sleeved on the shaft center rod, each end of the shaft center rod sequentially penetrates through an installation cylinder and a fastening cylinder respectively, and the end part of the shaft center rod is in threaded fit with the fastening cylinder; each end of the axle center rod spring is fixed on a spring bayonet on the end surface of the mounting cylinder on the same side; the mounting cylinder is used for being connected with the corresponding mechanical claw, the second mechanical arm, the first mechanical arm or the fixing arm.

As a further improvement of the invention, the rotating assembly further comprises a reel which is sleeved on the outer surfaces of the mounting cylinders on the two sides of the reel;

the traction wire is wound on the corresponding reel before reaching another traction wire casing from one traction wire casing.

As a further improvement of the invention, the outer surface of the mechanical claw is covered with a buffer pad.

As a further improvement of the unmanned aerial vehicle, the unmanned aerial vehicle further comprises a lifting base, wherein a charging socket is arranged on the lower surface of the bottom plate of the unmanned aerial vehicle, and a charging interface matched with the charging socket is arranged on the upper surface of the lifting base.

As a further improvement of the invention, the side surface of the lifting base is provided with a gripper clamping groove which is an annular groove.

3. Advantageous effects

Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:

(1) according to the unmanned aerial vehicle lifting system, the unmanned aerial vehicle lifting device is arranged into the mechanical arms and the mechanical claws, all the parts are connected in a movable connection mode and controlled through the traction line, when an obstacle exists in the flying path of the unmanned aerial vehicle, an operator controls the traction line to contract, so that all the mechanical arms and the mechanical claws on the side edge of the bottom plate of the unmanned aerial vehicle rotate upwards, all the parts at the lower end of the bottom plate of the unmanned aerial vehicle can be effectively prevented from colliding with the obstacle in the flying process, and the flying safety performance of the unmanned aerial vehicle is improved.

(2) According to the unmanned aerial vehicle lifting system, the shaft center rod spring is arranged in the rotating assembly, and when each mechanical arm and each mechanical claw rotate upwards, the shaft center rod spring is twisted and generates a torsion force with a return trend in the twisting process; the control pull wire relaxes, and alright the answer torsion that utilizes axle center pole spring makes each arm and the gripper that are located unmanned aerial vehicle bottom plate side rotate downwards to have the trend that keeps the initial condition of each arm and gripper, thereby increase unmanned aerial vehicle and descend when the base or similar bellied rise and fall in level and vertical direction stability.

(3) According to the unmanned aerial vehicle lifting system, the charging socket is arranged on the bottom plate of the unmanned aerial vehicle, and the charging socket is arranged on the upper surface of the lifting base. When unmanned aerial vehicle descends on the base that rises and falls, thereby the charging socket with charge the interface and can dock the effect that reaches self-charging automatically, save the trouble that artifical manual butt joint was charged.

Drawings

Fig. 1 is a schematic structural view of an unmanned aerial vehicle landing system according to embodiment 1;

FIG. 2 is a schematic diagram showing an exploded structure of a rotating assembly between a first robot arm and a second robot arm in example 1;

FIG. 3 is a schematic structural view of the unmanned aerial vehicle landing on an uneven plane in embodiment 1;

FIG. 4 is a schematic view showing the structure of the lifting base according to embodiment 2;

fig. 5 is a schematic structural view of the landing and landing system of the unmanned aerial vehicle in embodiment 2.

The reference numerals in the schematic drawings illustrate:

100. an unmanned aerial vehicle bottom plate;

210. a wire control wheel;

310. a buffer wheel mounting part; 321. a buffer wheel; 331. a buffer wheel fixing rod; 340. a buffer wheel spring;

500. a rotating assembly; 512. a spring bayonet; 513. mounting the cylinder; 530. an axial rod spring; 540. a spindle rod; 550. a reel; 560. a fastening cylinder;

601. a fixed arm; 602. a first robot arm; 603. a second mechanical arm; 604. a gripper;

701. drawing a wire groove;

800. a pull wire;

900. a charging jack;

1010. a charging interface; 1020. mechanical claw neck.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings and examples.

Example 1

An unmanned aerial vehicle system of taking off and landing of this embodiment, as shown in fig. 1, be equipped with fixed arm 601 at the both sides edge of unmanned aerial vehicle bottom plate 100, its fixed arm 601 quantity is equipped with two at least, can be two, four, six … … preferred, and the fixed arm 601 of this embodiment is equipped with two, and two fixed arms 601 set up about the axis symmetry of unmanned aerial vehicle bottom plate 100. One end of the fixed arm 601 is fixedly mounted on the bottom plate 100 of the unmanned aerial vehicle, the other end of the fixed arm 601 is rotatably connected with the upper end of the first mechanical arm 602 through a rotating component 500, the lower end of the first mechanical arm 602 is rotatably connected with the upper end of the second mechanical arm 603 through a rotating component 500, and the lower end of the second mechanical arm 603 is rotatably connected with the upper end of a mechanical claw 604 through a rotating component 500.

The first mechanical arm 602, the second mechanical arm 603 and the gripper 604 on each side of the bottom plate 100 of the unmanned aerial vehicle are controlled to rotate by a pull wire 800. In order to facilitate the installation of the pull wire 800 and avoid the phenomenon that the pull wire 800 falls off or is wound when being located outside, the outer surfaces of the fixed arm 601, the first mechanical arm 602, the second mechanical arm 603 and the mechanical claw 604 are respectively provided with a pull wire slot 701, and the pull wire 800 is located in the pull wire slot 701.

As shown in fig. 1, one end of the pull wire 800 of this embodiment is connected to the lower end of the gripper 604, and the other end of the pull wire 800 passes through the gripper 604, the second mechanical arm 603, the first mechanical arm 602, and the pull wire slot 701 on the fixed arm 601 in sequence and then is connected to the driving device inside the drone.

The driving device in this embodiment is an internal driving motor of the unmanned aerial vehicle, a wire control wheel 210 is installed on a motor shaft of the driving motor, and an annular groove for winding each traction wire 800 is formed in the outer circumferential surface of the wire control wheel 210.

It should be noted that the traction wires 800 on both sides of the bottom plate 100 of the unmanned aerial vehicle are wound on the wire control wheel 210 in the same direction in this embodiment, i.e. clockwise or counterclockwise.

When unmanned aerial vehicle began flying, control driving motor began work, control line wheel 210 rotates, thereby drive pull wire 800 and remove, realize pull wire 800's shrink, thereby change the position of each arm and gripper 604, this structural design is for fixed undercarriage among the prior art, each arm and gripper 604 of its unmanned aerial vehicle bottom plate 100 both sides are movable connection structure, can effectively avoid the landing gear of unmanned aerial vehicle bottom plate 100 lower extreme and the problem that the barrier bumps, the safety risk of unmanned aerial vehicle flight has been reduced.

Preferably, in order to avoid damage caused by a large acting force applied by the pull wire 800 to each mechanical arm and the mechanical claw 604 in the process of controlling the pull wire 800 to move by the driving motor in the embodiment, as shown in fig. 1, a buffer wheel mounting portion 310 is provided on one side of each fixed arm 601 in the embodiment, that is, the number of the fixed arms 601 is the same as the number of the buffer wheel mounting portions 310; the buffer wheel mounting portion 310 of the present embodiment includes two longitudinal plates disposed oppositely, and the two longitudinal plates are disposed along the width direction of the drone baseplate 100. In the embodiment, each longitudinal plate is provided with a longitudinal groove which is arranged along the height direction of the longitudinal plate. Two buffer wheel fixing rods 331 are arranged between the two longitudinal plates on each buffer wheel mounting part 310, two ends of each buffer wheel fixing rod 331 respectively penetrate through the longitudinal grooves on the corresponding side, and a buffer wheel spring 340 is connected between the two buffer wheel fixing rods 331 on each buffer wheel mounting part 310; a buffer wheel 321 is fixedly mounted on the middle of the buffer wheel fixing rod 331, that is, the buffer wheel fixing rod 331 penetrates through the central axis of the buffer wheel 321 and is fixedly connected with the buffer wheel 321.

After coming out of the wire control wheel 210, the traction wire 800 of the present embodiment sequentially goes around two buffer wheels 321 on a buffer wheel mounting portion 310, and then passes through the traction wire slots 701 on each mechanical arm on the corresponding side and is connected with the mechanical claw 604. When the driving motor controls the traction wire 800 to contract through the structural design, because the buffer wheel spring 340 exists between the two buffer wheel fixing rods 331, the traction wire 800 exerts acting force on each mechanical arm and each mechanical claw 604, and simultaneously exerts certain acting force on the buffer wheel 321 to force the buffer wheel spring 340 to contract, so that the acting force exerted by the traction wire 800 on each mechanical arm and each mechanical claw 604 can be reduced, and a certain buffering effect is achieved.

Furthermore, as shown in fig. 2, the rotating assembly 500 of the present embodiment includes a shaft rod 540, the shaft rod 540 is sleeved with a shaft rod spring 530, each end of the shaft rod 540 sequentially passes through a mounting drum 513 and a fastening drum 560, the diameter of the fastening drum 560 is smaller than the diameter of the mounting drum 513, that is, one end of the fastening drum 560 is inserted into the mounting drum 513, and the end of the shaft rod 540 is in threaded fit connection with the fastening drum 560; each end of the shaft center rod spring 530 is fixed to a spring catch 512 on the end surface of the same-side mounting cylinder 513, that is, the shaft center rod spring 530 is fixed by inserting the spring of the shaft center rod spring 530 into the spring catch 512.

The mounting cylinder 513 of this embodiment is used to connect with the corresponding gripper 604, second robot 603, first robot 602 or fixing arm 601, as shown in fig. 2, taking the connection manner between the first robot 602 and the second robot 603 as an example, a bump is respectively disposed on the first robot 602 and the second robot 603, and the bump is located at the connection position between the first robot 602 and the second robot 603, and a mounting cylinder 513 is disposed on the bump, and the mounting cylinder 513 is disposed along the width direction of the first robot 602 or the second robot 603, so as to facilitate the mounting of the spindle 540 and the movement of each component.

Further, the present embodiment is provided with a reel 550 externally fitted to the mounting drum 513, and the reel 550 is rotatable on the mounting drum 513. The outer surface of the reel 550 of this embodiment is provided with corresponding grooves along its circumference for the winding of the traction wire 800, i.e., the traction wire 800 is wound on the grooves of the reel 550 before the traction wire 800 passes from one traction wire groove 701 to the other traction wire groove 701.

It should be noted that the shaft spring 530 of the present embodiment is a torsion spring, and both ends of the shaft spring 530 are parallel to the length direction of the shaft spring 530, i.e. parallel to the length direction of the shaft 540, so as to facilitate the insertion of the end of the shaft spring 530 into the spring bayonet 512.

The unmanned aerial vehicle system that rises and falls of this embodiment, when unmanned aerial vehicle whole flight in-process or when meeting the barrier in the flight, unmanned aerial vehicle operating personnel transmits the signal control driving motor through controlling means such as operating handle and rotates, thereby drive wire control wheel 210 and rotate, namely drive pull wire 800 and contract, the length of its pull wire 800 of whole process shortens gradually, pull wire 800 exerts certain effort to gripper 604, make gripper 604 rotate with rotating assembly 500 as the centre of rotation, and drive other each arm and also rotate, will be located each part of unmanned aerial vehicle bottom plate 100 lower extreme and rotate the contraction upwards, can effectively avoid each part of unmanned aerial vehicle bottom plate 100 lower extreme to collide with the barrier; meanwhile, in the contraction process of the traction wire 800, the traction wire 800 wound on the buffer wheel 321 exerts a certain acting force on the buffer wheel 321 to force the buffer wheel spring 340 to contract, so that the acting force exerted by the traction wire 800 on each mechanical arm and each mechanical claw 604 is reduced, namely, a certain buffering effect is realized, and a certain protection effect is exerted on the traction wire 800.

It should be noted that, because the fixed arm 601, each mechanical arm and the gripper 604 are movably connected, in the process of controlling the rotation of each mechanical arm and gripper 604 by the pull wire 800, the pull wire 800 on the reel 550 of each rotating assembly 500 drives the reel 550, in the whole retracting process, the rotation of each mechanical arm and gripper 604 is controlled by the pull wire 800, but in the retracting process, the mechanical arm or gripper 604 rotates, and the two mounting barrels 513 in the rotating assembly 500 rotate relatively, so as to control the torsion of the axle center rod spring 530 connected with the axle center rod spring, so that the axle center rod spring 530 stores power, thereby facilitating the continuous resetting of each subsequent mechanical arm or gripper 604.

In addition, this embodiment unmanned aerial vehicle system of rising and falling, when needing unmanned aerial vehicle to descend, when control pull wire 800 releases, increase the length of pull wire 800 promptly, the effort that pull wire 800 applyed to buffer wheel spring 340 reduces, and buffer wheel spring 340 resets, and simultaneously, the axle center pole spring 530 that is located rotating assembly 500 also needs to reset to control each arm or gripper 604 to reset, thereby resume to initial state, when the effort was not applyed to pull wire 800 promptly. When initial condition, the surface of its gripper 604 is a horizontal plane, and the lower bottom surface of gripper 604 is a horizontal plane promptly, and covers through pasting the form such as have the blotter on this plane, is convenient for increase and ground between frictional force, guarantees the stability of its unmanned aerial vehicle landing.

In addition, when the bottom surface of the unmanned aerial vehicle required to land is an uneven plane, as shown in fig. 3, that is, there is a raised obstacle on the bottom surface, the traction wire 800 is controlled to extend by controlling each mechanical arm or gripper 604 to rotate upward and contract, and after the mechanical arm or gripper falls onto the obstacle, the axial rod spring 530 is reset, so as to fix the gripper 604 onto the obstacle. The unmanned aerial vehicle operator judges whether the unmanned aerial vehicle is suitable for landing according to the bottom surface to be landed in practice, namely judges the size of the obstacle; when being fit for descending, the unmanned aerial vehicle operating personnel adjust each arm and the effective area that accords with current landing surface that gripper 604 formed through controlling means like operating handle control, make unmanned aerial vehicle utilize landing gear rise and fall at more complicated landing surface, improved unmanned aerial vehicle's mobility.

Example 2

The structure of an unmanned aerial vehicle landing and landing system of this embodiment is basically the same as that of embodiment 1, and further: still including falling the base together, this base that should rise and fall refers to fig. 4 and shows, is equipped with the interface 1010 that charges on its base that rises and falls's the upper surface to be equipped with charging socket 900 on unmanned aerial vehicle bottom plate 100 lower surface, charging socket 900 and the interface 1010 that charges use mutually in coordination, insert the interface 1010 that charges when charging socket 900 promptly, realize charging unmanned aerial vehicle, this charging mode for current adoption data line charges, does not need for the manual operation to charge unmanned aerial vehicle interface and data line connection that charges, easy operation is convenient, need not worry data line winding scheduling problem.

In addition, referring to fig. 5, in the present embodiment, a mechanical claw groove 1020 is formed on a side surface of the lifting base, and the mechanical claw groove 1020 is an annular groove and is disposed along a circumferential direction of the lifting base.

When needs charge, each arm of operating personnel control and gripper 604 upwards rotate the shrink, the position of control unmanned aerial vehicle descending for unmanned aerial vehicle descends on the base that rises and falls, and the interface 1010 that charges is inserted to the socket 900 that charges on its unmanned aerial vehicle bottom plate 100, realizes charging of unmanned aerial vehicle. Thereafter, the robotic arms and gripper 604 are repositioned, thereby securing the entire drone to the landing base.

It should be noted that the power source is disposed inside the lifting base of the present embodiment, and is equivalent to a movable charging power source. The pawl catch slot 1020 on the landing base has a diameter that is greater than the distance between the two oppositely disposed pawls 604 in their initial positions.

The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.

Claims

1. An unmanned aerial vehicle system that rises and falls, its characterized in that: the unmanned aerial vehicle base plate comprises an unmanned aerial vehicle base plate (100), wherein at least two fixed arms (601) are arranged at the edge of the unmanned aerial vehicle base plate (100), each fixed arm (601) is rotatably connected with the upper end of a first mechanical arm (602) through a rotating component (500), the lower end of each first mechanical arm (602) is rotatably connected with the upper end of a second mechanical arm (603) through a rotating component (500), and the lower end of each second mechanical arm (603) is rotatably connected with the upper end of a mechanical claw (604) through a rotating component (500);

the rotating assembly (500) comprises a shaft center rod (540), a shaft center rod spring (530) is sleeved on the shaft center rod (540), each end of the shaft center rod (540) sequentially penetrates through an installation cylinder (513) and a fastening cylinder (560) respectively, and the end part of the shaft center rod (540) is in threaded fit with the fastening cylinder (560); each end of the shaft center rod spring (530) is fixed on a spring bayonet (512) on the end surface of the mounting drum (513) on the same side; the mounting drum (513) is used for being connected with the corresponding mechanical claw (604), the second mechanical arm (603), the first mechanical arm (602) or the fixed arm (601);

traction wire grooves (701) are respectively formed in the outer surfaces of the outer sides of the fixed arm (601), the first mechanical arm (602), the second mechanical arm (603) and the mechanical claw (604);

one side of each fixed arm (601) is provided with a buffer wheel mounting part (310), each buffer wheel mounting part (310) comprises two longitudinal plates which are arranged oppositely, and each longitudinal plate is provided with a longitudinal groove along the height direction; two buffer wheel fixing rods (331) are arranged between the two longitudinal plates on each buffer wheel mounting part (310), two ends of each buffer wheel fixing rod (331) respectively penetrate through the longitudinal grooves on the corresponding side, and a buffer wheel spring (340) is connected between the two buffer wheel fixing rods (331) on each buffer wheel mounting part (310); each buffer wheel fixing rod (331) penetrates through the central axis of one buffer wheel (321) and is fixedly connected with the buffer wheel (321);

one end of a traction wire (800) is connected to the lower end of the mechanical claw (604), and the other end of the traction wire (800) sequentially passes through the mechanical claw (604), the second mechanical arm (603), the first mechanical arm (602) and a traction wire groove (701) on the fixed arm (601) and then sequentially bypasses two buffer wheels (321) on a buffer wheel mounting part (310).

2. An unmanned aerial vehicle takeoff and landing system according to claim 1, wherein: the other end of each traction wire (800) is respectively wound and connected to a wire control wheel (210), and the wire control wheels (210) are in transmission connection with a driving motor in the unmanned aerial vehicle.

3. An unmanned aerial vehicle takeoff and landing system according to claim 2, wherein: and an annular groove for winding each traction wire (800) is formed in the outer circumferential surface of the wire control wheel (210).

4. An unmanned aerial vehicle takeoff and landing system according to claim 3, wherein: the rotating assembly (500) further comprises a winding wheel (550), and the winding wheel (550) is sleeved on the outer surfaces of the mounting drums (513) on the two sides of the winding wheel;

the traction wire (800) is wound on the corresponding reel (550) before passing from one traction wire slot (701) to another traction wire slot (701).

5. An unmanned aerial vehicle takeoff and landing system according to claim 4, wherein: the outer surface of the mechanical claw (604) is covered with a buffer pad.

6. An unmanned aerial vehicle takeoff and landing system according to claim 4, wherein: still include the base that rises and falls, be equipped with charging socket (900) on unmanned aerial vehicle bottom plate (100) lower surface, be equipped with on the base upper surface that rises and falls with charging socket (900) matched with interface (1010) that charges.

7. An unmanned aerial vehicle takeoff and landing system according to claim 6, wherein: and a mechanical claw clamping groove (1020) is formed in the side surface of the lifting base, and the mechanical claw clamping groove (1020) is an annular groove.