CN116290974A

CN116290974A - Unmanned aerial vehicle hangar self-adaptation locking means

Info

Publication number: CN116290974A
Application number: CN202210738092.8A
Authority: CN
Inventors: 冯世成; 尹来容; 冯文明; 廖卓凡; 肖泽亮; 蔡金虎; 余银红; 黄静; 莫秋元; 赵柏程; 刘洋; 黄龙; 周振华
Original assignee: Changsha University of Science and Technology; Hengyang Taihao Communication Vehicles Co Ltd
Current assignee: Changsha University of Science and Technology; Hengyang Taihao Communication Vehicles Co Ltd
Priority date: 2022-01-03
Filing date: 2022-06-28
Publication date: 2023-06-23
Also published as: CN114165091A

Abstract

The invention belongs to the technical field of unmanned aerial vehicle equipment, and discloses an unmanned aerial vehicle hangar self-adaptive locking device, which is characterized by comprising two modules, namely a clamping device and a centering device; the self-adaptive locking device of the unmanned aerial vehicle hangar is arranged on a Yu Tingji platform, and the clamping device is used for fixing the unmanned aerial vehicle and preventing the unmanned aerial vehicle from moving in the hangar to collide; the centering device is used for adjusting the position of the unmanned aerial vehicle on the shutdown platform to the clamping position of the clamping device; compared with the prior art, the clamping device has a self-adaptive clamping function, and can be used for fixing different machine types; the centering device has the advantages that the motion freedom degree is increased by adding the rollers on the inner side of the centering frame, the unmanned aerial vehicle is prevented from being blocked in the position adjustment process, the centering frame moves along the diagonal in a two-way manner, the structure is compact, the intelligent detection is realized, the speed is high, and the like.

Description

Unmanned aerial vehicle hangar self-adaptation locking means

Technical Field

The invention relates to the technical field of unmanned aerial vehicle equipment, in particular to an unmanned aerial vehicle hangar self-adaptive locking device.

Background

Unmanned aerial vehicles ("unmanned aerial vehicles"), abbreviated "UAV," are unmanned aerial vehicles that are operated by radio remote control devices and programmed control devices, or are operated autonomously, either entirely or intermittently, by an on-board computer. Unmanned aerial vehicles can be classified into military and civilian applications according to the field of application. For military purposes, unmanned aerial vehicles are classified into reconnaissance and drones. In civil aspect, the unmanned aerial vehicle is matched with industry application, and is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer shooting, express delivery transportation, disaster relief, wild animal observation, infectious disease monitoring, mapping, news reporting, electric power inspection, disaster relief, video shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and the developed countries are also actively expanding the application of industries and developing unmanned aerial vehicle technologies.

In consideration of the fact that the unmanned aerial vehicle can be put into tools such as a vehicle to move after being parked in a hangar, inclination can occur in the moving process, so that the unmanned aerial vehicle is caused to move in position on a stopping plate and even collide to cause damage, and therefore the unmanned aerial vehicle must be subjected to position correction and clamping fixation.

The patent CN212980024U discloses an unmanned aerial vehicle fixing device, the device is powered by a motor, a crank, a connecting rod, a sliding rail assembly and the like are mutually matched to complete the clamping action of a fixed clamp and a separated clamp, when the fixed clamp is clamped, a crank sliding block mechanism is positioned at a dead point position, so that the fixed clamp can bear larger impact vibration, can provide sufficient self-locking force for the motor, greatly reduces the self-locking torque requirement on the motor, and greatly reduces the cost on the premise of ensuring the reliable fixation of the unmanned aerial vehicle; but the device can only carry out fixed centre gripping to the machine leg of a model, does not have adaptive centre gripping function, can not realize pressing from both sides tightly facing the model of vertical machine leg, and the centre gripping mode is more single.

The patent CN210618494U discloses an unmanned aerial vehicle landing platform centering device, which comprises a landing platform and is characterized by comprising a centering driving device which is arranged on the landing platform; the centering working end is positioned above the lifting platform; the centering driving device drives the centering working end to move on the horizontal plane above the lifting platform, so that the landed external unmanned aerial vehicle is pushed to a stop zone in the center of the lifting platform by the centering working end; the device improves the landing stability of the unmanned aerial vehicle and realizes the functions of landing, fixed transportation and the like of the unmanned aerial vehicle in a vehicle-mounted mobile airport; however, the device has a complex overall structure, many centering rods and low centering efficiency.

Patent CN112918698A discloses an automatic centering device and centering method for an unmanned aerial vehicle, wherein the centering device comprises a driving piece, a linear guide rail assembly and a clamping plate assembly; the clamping plate assembly comprises two clamping plates, wherein the two clamping plates are positioned on the linear guide rail assembly and are driven by the driving piece to move on the linear guide rail assembly to be close to or far away from each other; when the two clamping plates are close to each other, the two clamping plates are in contact with the landing gear of the unmanned aerial vehicle and push the landing gear to a centering position, wherein the centering position is positioned in an area formed by folding the two clamping plates, and the unmanned aerial vehicle has the advantages of simple and compact structure, small volume, high centering speed and the like; however, the unmanned aerial vehicle stress balance problem is not considered in the centering process, and when the stress balance is formed by the included angles of the legs of the unmanned aerial vehicle and the two clamping plates, the centering mechanism is blocked by the unmanned aerial vehicle and does not move any more.

Disclosure of Invention

The invention aims to provide a self-adaptive locking device for an unmanned aerial vehicle hangar, which can realize the clamping of unmanned aerial vehicles with different types of legs and prevent the unmanned aerial vehicles from moving and colliding in the hangar moving process.

In order to achieve the purpose, the invention adopts the following technical scheme.

The utility model provides an unmanned aerial vehicle hangar self-adaptation locking device, includes shut down platform (1), clamping device (2), centering device (3), drive arrangement (4).

Preferably, the slotted hole (11) of the stopping platform (1) is a through hole, so that the connecting piece (327) can conveniently pull the centering frame (31) to move in the slot; the notch (13) is a through hole, so that the clamping device (2) can move up and down in the hole conveniently; the guide wall (14) is welded on the lower surface of the shutdown platform (1), forms a moving pair with the clamping device (2), and guides the clamping device (2) to move up and down at a specified position; the semicircular groove (12) is provided with a first pressure sensor (15), and the unmanned aerial vehicle is confirmed to be centered to a designated position through pressure feedback.

Preferably, the clamping device (2) comprises a clamping jaw (21), a bracket (22), a spring (23), a push rod (24), a box body (25), a first lifting frame (26) and a second lifting frame (27); at the initial moment, the top of the clamping end of the clamping jaw (21) coincides with the upper surface of the shutdown platform (1); the box body (25) is mutually attached to the inner surface of the guide wall (14) of the stopping platform (1) to form a moving pair, so that the clamping device (2) can move up and down at a designated position conveniently.

Preferably, the clamping jaw (21) is mounted on the box body (25) and rotates around a shaft, the spring (23) is mounted on the ejector rod (24), the ejector rod (24) is fixedly connected with the bracket (22) through a bolt, and the ejector rod (24) and the box body (25) form a moving pair.

Preferably, the clamping end of the clamping jaw (21) is provided with a clamping groove (211), and the clamping groove (211) is convenient for clamping the common vertical four-leg unmanned aerial vehicle legs.

Preferably, a second pressure sensor (212) and a third pressure sensor (213) are arranged in the clamping groove (211) and at the lower part of the clamping end, and the expansion and the contraction of the first driving piece (41) hydraulic cylinder and the second driving piece (42) hydraulic cylinder are further controlled through pressure feedback.

Preferably, the lower end of the clamping jaw (21) is provided with a roller (214) through a pin shaft, and the roller (214) and a trapezoid plane of the ejector rod (24) form high-pair connection so as to reduce friction and enable the clamping jaw (21) to move more quickly and accurately.

Preferably, the box body (25) mainly has a function of forming a moving pair with the ejector rod (24) and can be driven by the spring (23), so that the box body (25) is made of a hard and low-density material.

Preferably, the spring (23) should be selected by calculation according to the overall mass of the clamping device (2) to have a corresponding spring constant so that the support initially moves the entire clamping device (2) upwards.

Preferably, the bracket (22) is provided with a transverse groove (221) and a vertical groove (222), and the transverse groove (221) is convenient for placing horizontal legs; the vertical groove (222) is suitable for placing a vertical machine leg.

Preferably, a fourth pressure sensor (2211) is mounted on the transverse groove (221), and a fifth pressure sensor (2221) is mounted on the vertical groove (222) to determine whether the centering device (3) adjusts the position of the unmanned aerial vehicle to the correct position.

Preferably, the centering device (3) is mounted on the shutdown platform (1) and is used for adjusting the fixing position of the unmanned aerial vehicle on the shutdown platform (1) to the clamping device (2).

Preferably, the centering device (3) comprises a centering movement mechanism (32) fixedly arranged below the shutdown platform (1), and a centering frame (31) which is connected with the centering movement mechanism (32) and is arranged on the shutdown platform (1).

Preferably, the centering movement mechanism (32) comprises a support (326) fixed on the bottom surface of the stopping platform (1), a sliding rail (325) installed on the support (326), a sliding block (324) sliding on the sliding rail (325), a connecting piece (327) fixedly connected on the sliding block (324), a first linkage rod (322) and a second linkage rod (323) hinged with the sliding block (324), and a center rod (321) hinged with a hydraulic cylinder of the third driving piece (43) and the first linkage rod (322).

Preferably, the center rod (321) is formed by the first center rod assembly (3211) and the second center rod assembly (3212) to form a moving pair for use, and forms a rod piece with adjustable gap length, and the relative positions of the rod piece are fixed through a set screw so as to adapt to centering actions of different sizes of machine types.

Preferably, the first linkage rod (322) is formed by a first linkage rod component (3221) and a second linkage rod component (3222) to form a moving pair for cooperation, a rod piece with an adjustable gap length is formed, and the relative positions are fixed through set screws so as to adapt to centering actions of different sizes.

Preferably, the centering frame (31) is mounted on the connecting piece (327) fixedly connected with the sliding block (324), the centering frame (31) and the connecting piece (327) are fixed through a set screw, and the centering height of the centering frame (31) is changed through adjustment of the vertical position.

Preferably, the centering frame (31) comprises a rod frame (311), a roller (312) and a pin shaft (313), wherein the roller (312) is installed in the rod frame (311) through the pin shaft (313) so as to prevent the clamping condition of the machine leg caused by the stress balance during the execution of the centering movement.

Preferably, the centering frame (31) moves on the sliding rail (325) along with the sliding block (324) under the drive of the central rod (321) and the first linkage rod (322) and the second linkage rod (323), and the movement direction is opposite or opposite along the diagonal direction of the shutdown platform (1).

Preferably, the first driving member (41) is fixedly connected to the central position of the first lifting frame (26), and the second driving member (42) is fixedly connected to the central position of the second lifting frame (27), so that the stress of the two lifting frames is uniform, and the two lifting frames are kept to be lifted horizontally.

Preferably, the working method of the unmanned aerial vehicle library self-adaptive locking device is as follows.

When the unmanned aerial vehicle falls to the shutdown platform (1), the centering device (2) starts to work, the hydraulic cylinder of the third driving piece (41) is contracted, the sliding block (324) is driven to slide on the sliding rail (325) through the connection of the center rod (321), the first linkage rod (322) and the second linkage rod (323), and the connecting piece (327) is fixedly connected with the sliding block (324) to drive the two centering frames (31) to move in opposite directions along the diagonal line, so that the unmanned aerial vehicle is pushed to a clamping position; when the unmanned aerial vehicle enters a clamping position and falls into the groove (12) or the vertical groove (222), the first pressure sensor (15) or the fifth pressure sensor (2221) is stressed to enable the first driving piece (41) and the second driving piece (42) to shrink, and at the same time, the centering device (3) is restored to a original state; the utility model discloses a machine tool is characterized by comprising a first driving piece (41) and a piston rod of a second driving piece (42), a first lifting frame (26) and a second lifting frame (27) are fixedly connected, the first lifting frame (26) and the second lifting frame (27) are in interference fit with a push rod (24), the first driving piece (41) and the second driving piece (42) shrink to drive the whole clamping device (2) to move upwards, when the lower surface of a box body (25) collides with the lower surface of a shutdown platform (1), the box body (25) stops moving, the first driving piece (41) and the second driving piece (42) shrink continuously, the push rod (24) and the box body (25) form a moving pair to continue to lift in the box body, and clamping jaws (21) clamp in the opposite directions under the driving of the push rod (24).

The clamping end of clamping jaw (21) is equipped with clamping groove (211), second pressure sensor (212) and third pressure sensor (213) are equipped with to clamping end lower part in clamping groove (211), work as behind clamping jaw (21) and the leg contact second pressure sensor (212) and third pressure sensor (213) begin the clamping force that record the leg received, work as clamping force reaches behind the predetermined value first driving piece (41) with two pneumatic cylinders of second driving piece (42) stop the operation, and unmanned aerial vehicle centre gripping is accomplished.

When unmanned aerial vehicle needs to take off, two pneumatic cylinders of first driving piece (41) with second driving piece (42) stretch out, ejector pin (24) move down in box (25), two clamping jaw (21) are moved in opposite directions and are loosened unmanned aerial vehicle leg, two pneumatic cylinders of first driving piece (41) with second driving piece (42) continue to stretch out, clamping device (2) are restored to the normal position.

Compared with the prior device, the invention has the following beneficial effects.

Through be equipped with horizontal recess and perpendicular recess on clamping device's sub-part bracket to and be equipped with the centre gripping recess at the clamping end of clamping jaw, realized the centre gripping to two kinds of machine leg model unmanned aerial vehicle of horizontal and vertical, broken the restriction that in the past same device can only centre gripping one kind of model.

Through install first pressure sensor on the semicircle groove of shut down platform, in the centre gripping recess of clamping jaw and centre gripping end lower part installation second pressure sensor and third pressure sensor, install fourth pressure sensor on the horizontal recess of bracket, install fifth pressure sensor on the vertical recess of bracket, with the help of the signal feedback of each pressure sensor, realized automation, the ordering of whole unmanned aerial vehicle hangar self-adaptation locking device and pressed from both sides tight function.

By adding the roller on the inner side of the centering frame of the centering device, the freedom degree of centering movement is increased, and the phenomenon that the machine leg is blocked due to stress balance caused by the angle problem in the centering movement process is effectively avoided.

The centering device realizes the opposite movement of the two centering frames through a single driving piece, so that the overall structure of the centering device is simple and compact, the size is small and light, the centering device is suitable for centering of most unmanned aerial vehicle models, in addition, the synchronous action of the two centering frames can be realized by only one action of the driving piece, and the required centering time is short and the centering speed is high.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic view of a part of the structure of the clamping device of the present invention.

Fig. 3 is an enlarged partial schematic view of the clamping device of the present invention.

Fig. 4 is a schematic structural view of the centering device of the present invention.

Fig. 5 is an enlarged partial schematic view of the centering frame of the present invention.

FIG. 6 is a schematic view of the bottom view of the shutdown platform of the present invention.

FIG. 7 is an enlarged partial schematic view of the shutdown platform of the present invention.

Fig. 8 is a schematic view of the overall structure of the center pole of the present invention.

FIG. 9 is a schematic diagram of the overall structure of the linkage rod of the present invention.

Fig. 10 is a flow chart of the present invention drone clamping process.

Legend description: 1. a shutdown platform; 11. a slot hole; 12. a semicircular groove; 13. a notch; 14. a guide wall; 15. a first pressure sensor; 2. a clamping device; 21. a clamping jaw; 211. a clamping groove; 212. a second pressure sensor; 213. a third pressure sensor roller; 22. a bracket; 221. a transverse groove; 2211. a fourth pressure sensor; 222. a vertical groove; 2221. a fifth pressure sensor; 23. a spring; 24. a push rod; 25. a case; 26. a first lifting frame; 27. a second lifting frame; 3. a centering device; 31. centering frame; 311. a pole frame; 312. a roller; 313. a pin shaft; 314. a positioning groove; 32. a centering movement mechanism; 321. a central rod; 3211. a first center rod assembly; 3212. a second center rod assembly; 322. a first linkage rod; 3221. a linkage rod first assembly; 3222. a linkage rod second assembly; 323. a second linkage rod; 324. a slide block; 325. a slide rail; 326. a support; 327. a connecting piece; 4. a driving device; 41. a first driving member; 42. a second driving member; 43. a third driving member; 44. and driving the support.

Detailed Description

The present invention will now be described in further detail with reference to the drawings and examples, it being understood that the specific examples described herein are intended to illustrate the invention and not to limit the invention; it should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.

In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be the communication between the two elements or the interaction relationship between the two elements; the specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both first and second features in direct contact, as well as first and second features not in direct contact but in contact with each other through additional features therebetween; moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature; the first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements in question must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention; furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

As shown in fig. 1 to 9, the unmanned aerial vehicle hangar self-adaptive locking device of the embodiment comprises a shutdown platform (1), a clamping device (2), a centering device (3) and a driving device (4); the shutdown platform (1) is characterized in that a slotted hole (11), a semicircular groove (12), a notch (13) and a guide wall (14) are formed in the shutdown platform; the clamping device (2) is characterized by comprising clamping jaws (21), a bracket (22), a spring (23), a push rod (24), a box body (25), a first lifting frame (26) and a second lifting frame (27); the centering device (3) is characterized by comprising a centering frame (31) and a centering movement mechanism (32); the driving device (4) is characterized by comprising a first driving piece (41), a second driving piece (42), a third driving piece (43) and a driving support (44); the box body (25) of the clamping device (2) is mutually attached to the inner surface of the guide wall (14) of the stopping platform (1) to form a moving pair; at the initial moment, the top of the clamping end of the clamping jaw (21) of the clamping device (2) is overlapped with the upper surface of the shutdown platform (1); the centering frame (31) and the centering movement mechanism (32) of the centering device (3) are respectively positioned at the upper side and the lower side of the shutdown platform (1), the lower surface of the centering frame (31) is mutually attached to the upper surface of the shutdown platform (1), and a subcomponent support (326) of the centering movement mechanism (32) is arranged on the lower surface of the shutdown platform (1); the first driving piece (41) of the driving device (4) is fixedly connected to the central position of the first lifting frame (26) of the centering device (3), the second driving piece (42) is fixedly connected to the central position of the second lifting frame (27), and the third driving piece (43) is hinged with the centering movement mechanism (32); the first driving piece (41) and the second driving piece (42) are fixedly connected to the lower surface of the shutdown platform (1) through screws; the third driving piece (43) is hinged with the driving support (44); the driving support (44) is fixedly connected to the lower surface of the shutdown platform (1) through screws.

As shown in fig. 2, in a specific embodiment, the clamping device (2) is composed of a clamping jaw (21), a bracket (22), a spring (23), a push rod (24), a box body (25), a first lifting frame (26) and a second lifting frame (27); the lower end of the clamping jaw (21) is provided with a roller (214) through a pin shaft, and the roller (214) and a trapezoid plane of the ejector rod (24) form high-pair connection so as to reduce friction and enable the clamping jaw (21) to move more quickly and accurately; the clamping end of the clamping jaw (21) is provided with a clamping groove (211), and preferably, the lower surface of the clamping end of the clamping jaw (21) and the clamping groove (211) are internally provided with rubber pads or objects with the same property so as to increase the friction force with the machine leg and protect the machine leg from compression deformation; preferably, a second pressure sensor (212) and a third pressure sensor (213) are arranged in the clamping groove (211) and on a gasket at the lower part of the clamping end, and the operation of the first driving piece (41) and the second driving piece (42) is controlled through pressure feedback, so that the force of the clamping jaw (21) on the machine leg is ensured to be enough to fix the machine leg; the clamping jaw (21) is installed on the box body (25) and rotates around a shaft, the spring (23) is installed on the ejector rod (24), and the ejector rod (24) is fixedly connected with the bracket (22) through threaded connection.

As shown in fig. 4, in a specific embodiment, the centering device (3) consists of two centering frames (31) and a centering movement mechanism (32); the centering frame (31) comprises a rod frame (311), a roller (312) and a pin shaft (313), wherein the roller (312) is installed in the rod frame (311) through the pin shaft (313); preferably, a positioning groove (314) is formed in the rod frame (311), the centering frame (31) and the connecting piece (327) are matched together through a slotted hole, the relative positions of the centering frame and the connecting piece are fixed through a set screw, and the height of the centering frame (31) from the upper surface of the shutdown platform (1) is further changed by adjusting the fixed position of the screw; the centering movement mechanism (32) comprises a center rod (321), a first linkage rod (322), a second linkage rod (323), a sliding block (324), a sliding rail (325), a support (326) and a connecting piece (327), wherein the support (326) is fixed with the stopping platform (1) through threaded connection; the sliding block (324) is provided with a threaded hole, and the first linkage rod (322), the second linkage rod (323) and the connecting piece (327) are hinged and fixed with the sliding block (324) through screws respectively; the center rod (321) is hinged with the first linkage rod (322) and the second linkage rod (323) through bolts; the third driving piece (43) is hinged with the center rod (321) and the first linkage rod (322) through bolts, and the rod piece is driven to rotate through the expansion and contraction of the hydraulic cylinder of the third driving piece (43), so that the whole centering device (3) is driven to move.

As shown in fig. 8 and 9, the central rod (321) is composed of a first central rod assembly (3211) and two second central rod assemblies (3212), the first central rod assembly (3211) and the second central rod assembly (3212) are connected by adopting a sliding table sliding rail principle and through a set screw, and the length of the central rod (321) can be changed by changing the matched positions of the two assemblies; the first linkage rod (322) consists of a first linkage rod assembly (3221) and a second linkage rod assembly (3222), the first linkage rod assembly (3221) and the second linkage rod assembly (3222) are connected by adopting a sliding table sliding rail principle through a set screw, and the length of the linkage rod can be changed by changing the matched positions of the two assemblies; the centering range can be adjusted through the change of the whole length of the rod piece, so that the device is suitable for machine types with different sizes.

In this embodiment, after the unmanned aerial vehicle falls onto the shutdown platform (1), the centering device (2) starts to work, the hydraulic cylinder of the third driving member (41) contracts, the sliding block (324) is driven to slide on the sliding rail (325) by the connection of the central rod (321), the first linkage rod (322) and the second linkage rod (323), and the connecting member (327) is fixedly connected with the sliding block (324) to drive the two centering frames (31) to move along opposite diagonal lines, so as to push the unmanned aerial vehicle to a clamping position; when the unmanned aerial vehicle enters a clamping position and falls into the groove (12) or the vertical groove (222), the first pressure sensor (15) or the fifth pressure sensor (2221) is stressed to enable the first driving piece (41) and the second driving piece (42) to shrink, and at the same time, the centering device (3) is restored to a original state; the utility model discloses a machine tool is characterized by comprising a first driving piece (41) and a piston rod of a second driving piece (42), a first lifting frame (26) and a second lifting frame (27) are fixedly connected, the first lifting frame (26) and the second lifting frame (27) are in interference fit with a push rod (24), the first driving piece (41) and the second driving piece (42) shrink to drive the whole clamping device (2) to move upwards, when the lower surface of a box body (25) collides with the lower surface of a shutdown platform (1), the box body (25) stops moving, the first driving piece (41) and the second driving piece (42) shrink continuously, the push rod (24) and the box body (25) form a moving pair to continue to lift in the box body, and clamping jaws (21) clamp in the opposite directions under the driving of the push rod (24).

It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention; various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention; it is not necessary here nor is it exhaustive of all embodiments; any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims

1. The self-adaptive locking device for the unmanned aerial vehicle hangar is characterized by comprising a stopping platform (1), a clamping device (2), a centering device (3) and a driving device (4); the shutdown platform (1) is provided with a slotted hole (11), a semicircular groove (12), a slotted hole (13), a guide wall (14) and a first pressure sensor (15); the clamping device (2) comprises clamping jaws (21), a bracket (22), a spring (23), an ejector rod (24), a box body (25), a first lifting frame (26) and a second lifting frame (27); the clamping jaw (21) comprises a clamping groove (211), a second pressure sensor (212), a third pressure sensor (213) and a roller (214); the bracket (22) comprises a transverse groove (221), a vertical groove (222), a fourth pressure sensor (2211) and a fifth pressure sensor (2221); the centering device (3) comprises a centering frame (31) and a centering movement mechanism (32); the centering frame (31) comprises a rod frame (311), rollers (312) and a pin shaft (313); the centering movement mechanism (32) comprises a center rod (321), a first linkage rod (322), a second linkage rod (323), a sliding block (324), a sliding rail (325) and a support (326), and a connecting piece (327); the driving device (4) comprises a first driving piece (41), a second driving piece (42), a third driving piece (43) and a driving support (44); the box body (25) of the clamping device (2) is mutually attached to the inner surface of the guide wall (14) of the stopping platform (1) to form a moving pair; at the initial moment, the top of the clamping end of the clamping jaw (21) of the clamping device (2) is overlapped with the upper surface of the shutdown platform (1); the centering frame (31) and the centering movement mechanism (32) of the centering device (3) are respectively positioned at the upper side and the lower side of the shutdown platform (1), the lower surface of the centering frame (31) is mutually attached to the upper surface of the shutdown platform (1), and a subcomponent support (326) of the centering movement mechanism (32) is arranged on the lower surface of the shutdown platform (1); the first driving piece (41) of the driving device (4) is fixedly connected to the central position of the first lifting frame (26) of the centering device (3), the second driving piece (42) is fixedly connected to the central position of the second lifting frame (27), and the third driving piece (43) is hinged with the centering movement mechanism (32); the first driving piece (41) and the second driving piece (42) are fixedly connected to the lower surface of the shutdown platform (1) through screws; the third driving piece (43) is hinged with the driving support (44); the driving support (44) is fixedly connected to the lower surface of the shutdown platform (1) through screws.

2. An unmanned aerial vehicle hangar self-adapting locking device according to claim 1, characterized in that the slot (11) and the slot (13) of the shutdown platform (1) are through holes; the semicircular groove (12) is positioned on the upper surface of the shutdown platform (1) and is connected with the notch (13); the guide wall (14) is welded to the lower surface of the shutdown platform (1); the semicircular groove (12) is provided with a first pressure sensor (15).

3. The unmanned aerial vehicle hangar self-adaptive locking device according to claim 1, wherein the clamping jaw (21) of the clamping device (2) is installed on the box body (25) and rotates around a shaft, the spring (23) is installed on the ejector rod (24), the ejector rod (24) is fixedly connected with the bracket (22) through bolts, and the ejector rod (24) and the box body (25) form a moving pair.

4. The unmanned aerial vehicle hangar self-adaptive locking device according to claim 1, wherein the clamping end of the clamping jaw (21) is provided with a clamping groove (211), and a second pressure sensor (212) and a third pressure sensor (213) are arranged in the clamping groove (211) and at the lower part of the clamping end; the lower end of the clamping jaw (21) is provided with a roller (214) through a pin shaft.

5. The unmanned aerial vehicle hangar self-adaptive locking device according to claim 1, wherein a transverse groove (221) and a vertical groove (222) are arranged on the bracket (22), a fourth pressure sensor (2211) is arranged on the transverse groove (221), and a fifth pressure sensor (2221) is arranged on the vertical groove (222); the ejector rod (24) consists of a cuboid, a trapezoid table and a cylinder.

6. An unmanned aerial vehicle hangar self-adapting locking device according to claim 1, characterized in that the centering frame (31) comprises a bar frame (311), a roller (312) and a pin (313), the roller (312) being mounted in the bar frame (311) by means of the pin (313).

7. The unmanned aerial vehicle hangar self-adaptive locking device according to claim 1, wherein the centering movement mechanism (32) comprises a central rod (321), a first linkage rod (322), a second linkage rod (323), a sliding block (324), a sliding rail (325), a support (326) and a connecting piece (327), wherein the central rod (321) is used in a matched mode by a moving pair formed by a first central rod assembly (3211) and a second central rod assembly (3212), and the relative positions of the central rod and the moving pair are fixed through a set screw; the first linkage rod (322) is formed by a first linkage rod assembly (3221) and a second linkage rod assembly (3222) to be matched with each other for use, and the relative positions are fixed through set screws.

8. The unmanned aerial vehicle hangar self-adaptive locking device according to claim 1, wherein the connecting piece (327) is fixedly connected to the sliding block (324) through a screw, the connecting piece (327) is matched with the bar frame (311) through a set screw, and the first linkage bar (322) and the second linkage bar (323) are hinged with the sliding block (324).