CN220616244U

CN220616244U - Double synchronous belt driving type unmanned aerial vehicle nest centering device

Info

Publication number: CN220616244U
Application number: CN202322292556.XU
Authority: CN
Inventors: 罗靖; 叶蔚; 黄立佳; 伍尚德; 邹韩章
Original assignee: Changsha Ebit Technology Co ltd
Current assignee: Changsha Ebit Technology Co ltd
Priority date: 2023-08-25
Filing date: 2023-08-25
Publication date: 2024-03-19
Anticipated expiration: 2033-08-25

Abstract

The utility model discloses a double synchronous belt driving type unmanned aerial vehicle nest centering device, which belongs to the technical field of unmanned aerial vehicles, wherein driving wheel assemblies are arranged at four corners of a box body shell, and synchronous belts are hung on an upper layer driving wheel and a lower layer driving wheel of the driving wheel assemblies; the driving assembly comprises a worm and gear reducer connected with the motor, and the output end of the worm and gear reducer is connected with a gear box; the output end of the gear transmission case is provided with two synchronous wheels, and each synchronous wheel drives the corresponding synchronous belt to rotate respectively; two ends of each centering rod are arranged on the sliding blocks of the corresponding linear sliding rail; one end of each centering rod is connected with the synchronous belt on the upper layer, and the other end is connected with the synchronous belt on the lower layer, so that the moving directions of the two centering rods which are parallel to each other are opposite. The utility model adopts the single motor and the double synchronous belt for driving, has accurate transmission, no sliding friction during working, constant transmission ratio, high transmission efficiency, obvious energy saving, high strength and high stability, simple structure and convenient subsequent maintenance.

Description

Double synchronous belt driving type unmanned aerial vehicle nest centering device

Technical Field

The utility model belongs to the technical field of unmanned aerial vehicles, and particularly relates to a double synchronous belt driving type unmanned aerial vehicle nest centering device.

Background

After the unmanned aerial vehicle falls on the aircraft nest shutdown platform, the aircraft nest needs to fix the unmanned aerial vehicle at the designated position of the parking apron so as to complete functions such as charging, data transmission, instruction issuing and the like of the unmanned aerial vehicle. Unmanned aerial vehicle nest of prior art is to accomplish fixed unmanned aerial vehicle under unmanned condition, sets up two sets of fixture at unmanned aerial vehicle parking platform edge generally, fixes unmanned aerial vehicle or removes the intermediate position of parking platform through the clamping structure. This gripping structure and its transmission structure are collectively referred to as a centering device. The existing centering device realizes the movement of the clamping structure through a screw rod structure, but the screw rod structure is complex, and the difficulties of installation, maintenance and the like are great; meanwhile, the structure strength is low, the stability is poor, and the device is easy to damage in the transportation process; the manufacturing cost is also high. The screw rod structure needs to use two directions of double motor drive X axle and Y axle, causes the clamping structure position that the screw rod connects to take place to deviate because of the tiny fluctuation of motor easily to lead to the clamping structure to fold back unmanned aerial vehicle's position and appear the skew, to unmanned aerial vehicle's function such as charge, data transmission, order of giving off produces the influence.

Disclosure of Invention

Aiming at the problems, the utility model provides the double synchronous belt driving type unmanned aerial vehicle nest centering device which adopts a single motor and double synchronous belts for driving, has accurate transmission, no sliding friction during working, constant transmission ratio, high transmission efficiency, obvious energy saving, high strength and high stability, simple structure and convenient subsequent maintenance.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a double synchronous belt driven unmanned aerial vehicle nest centering device, comprising:

the box body shell: two layers of driving wheels are arranged at the four corners of the inner wall up and down, and corresponding synchronous belts are respectively mounted on the upper layer driving wheel and the lower layer driving wheel; the four walls of the inner side face are provided with linear sliding rails;

and a driving assembly: the device comprises a motor, a gear box and a worm and gear speed reducer; the motor is connected with the worm gear reducer, a first transmission shaft is arranged at the output end of the worm gear reducer, and a transmission gear on the first transmission shaft positively rotates to drive a transmission gear on a second transmission shaft in the gear transmission box to reversely rotate, so that synchronous wheels on the first transmission shaft and the second transmission shaft respectively drive corresponding synchronous belts to rotate;

centering rod: the two rectangular frames are staggered and distributed in a cross shape to form a rectangular frame with adjustable size; two ends of each centering rod are arranged on the sliding blocks of the corresponding linear sliding rail; one end of each centering rod is connected with the synchronous belt on the upper layer, and the other end is connected with the synchronous belt on the lower layer, so that the moving directions of the two centering rods which are parallel to each other are opposite.

As a further improvement of the scheme, the upper and lower driving wheels at the same corner are coaxially arranged on the mounting shaft; the mounting shaft both ends are installed on L type area seat bearing, and L type area seat bearing is installed on the box shell.

As a further improvement of the scheme, a tensioning wheel for tensioning the synchronous belt is arranged in the box body shell.

As a further improvement of the scheme, the outer wall of the synchronous belt is provided with a tooth surface, the outer wall of the synchronous wheel is provided with a tooth surface, and the outer wall of the synchronous belt is meshed with the synchronous wheel; the inner wall of the synchronous belt is mounted on the driving wheel.

As a further improvement of the scheme, a first transmission shaft and a second transmission shaft are vertically arranged in the gear box assembly; the first transmission shaft is connected with the output end of the worm and gear reducer; the first transmission shaft and the second transmission shaft are provided with transmission gears which are meshed with each other; the first transmission shaft and the second transmission shaft are provided with synchronizing wheels at the ends, and the synchronizing wheels respectively drive the synchronous belts at the upper layer and the lower layer to rotate.

As a further improvement of the scheme, two ends of the centering rod are provided with vertical mounting plates, and the mounting plates are connected with corresponding sliding blocks and synchronous belts.

As a further improvement of the scheme, the centering rod comprises a straight rod part with a straight middle part, and both ends of the straight rod part are provided with first bending parts which are bent towards the same side; the first bending part end is provided with a second bending part which is bent towards the opposite side.

As a further improvement of the scheme, two centering rods of the same group are symmetrically arranged; and the first bending parts are all arranged inwards.

Compared with the prior art, the utility model has the beneficial effects that:

the device has the advantages of accurate transmission, no sliding friction during working, constant transmission ratio, high transmission efficiency and obvious energy conservation;

the device has stable transmission speed, strong buffering capacity and low noise;

the device uses a single motor for transmission, and two sets of synchronous belts are adopted to realize the movement of four centering rods, so that the working efficiency of the device is more stable, the working energy consumption is lower than that of a plurality of motors, only a single machine is required to be maintained in the follow-up process, and the device is more convenient to maintain relative to other devices; the transmission is accurate, no sliding friction is generated during working, the constant transmission ratio is realized, the transmission efficiency is high, and the energy conservation is obvious.

The worm gear component worm speed reducer has the advantages of compact mechanical structure, light volume and appearance, small size, high efficiency, good heat exchange performance, quick heat dissipation, self-locking worm gear components and the like;

the motor and the worm gear component worm reducer used in the device stop rotating after stopping working, the meshing angle of the worm and the worm gear component is greater than 90 degrees, so that when the input end stops rotating, the worm gear component can prevent the reverse direction movement of the worm, the effect of dynamic self-locking can be achieved, the unmanned aerial vehicle can not cause fluctuation of the centering rod due to external factors after centering is completed, and the overall safety and stability of the machine nest are greatly enhanced.

Drawings

Fig. 1 is a perspective view showing the open structure of the centering rod in the device.

Fig. 2 is a top view of the folding structure of the centering rod of the device.

Fig. 3 is a schematic top view of the present apparatus.

Fig. 4 is a left side view of the present device.

Fig. 5 is a schematic view of the structure after the centering rod is fully opened.

Fig. 6 is a schematic diagram of the case housing structure.

Fig. 7 is a schematic diagram of a timing belt installation mode.

Fig. 8 is a schematic diagram of an upper synchronous belt winding mode.

Fig. 9 is a schematic diagram of a lower synchronous belt winding mode.

Fig. 10 is a schematic diagram of a tensioner assembly.

Fig. 11 is a top view of the tensioner assembly.

Fig. 12 is a schematic diagram of a worm gear reducer.

Fig. 13 is a schematic view of the internal structure of the gear box assembly.

Fig. 14 is a schematic top view of a single centering rod.

Fig. 15 is a schematic side view of a timing belt.

Fig. 16 is a schematic view of a linear slide rail structure.

In the figure: 1. a centering rod; 2. a synchronous belt pressing plate; 3. a slide rail backing plate; 4. a synchronous belt; 5. l-shaped bearing with a seat; 6. a motor; 7. a gear box; 8. a mounting base; 9. a worm gear reducer; 10. a mounting shaft; 11. a synchronizing wheel; 12. a driving wheel; 13. a slide block; 14. a linear slide rail; 15. a first drive shaft; 16. a framework oil seal; 17. a transmission gear; 18. a bearing member; 19. a hole input worm; 20. a worm wheel member; 21. a worm member; 22. a case housing; 23. a nut; 24. a rotation shaft; 25. a second drive shaft; 26. a tensioning wheel; 101. a straight rod part; 102. a first bending part; 103. and a second bending part.

Detailed Description

In order that those skilled in the art will better understand the technical solutions, the following detailed description of the technical solutions is provided with examples and illustrations only, and should not be construed as limiting the scope of the present patent.

Referring to fig. 1 to 16, in a specific embodiment, a synchronous belt 4-driven unmanned aerial vehicle nest returning device includes:

case housing 22: two layers of driving wheels 12 are arranged at the four corners of the inner wall up and down, and corresponding synchronous belts 4 are respectively hung on the upper layer of driving wheels 12 and the lower layer of driving wheels 12; the inner side four walls are provided with linear slide rails 14;

and a driving assembly: comprises a motor 6, a gear box 7 and a worm and gear reducer 9; the motor 6 is connected with the worm gear reducer 9, a first transmission shaft 15 is arranged at the output end of the worm gear reducer 9, and a transmission gear 17 on the first transmission shaft 15 positively rotates to drive a transmission gear 17 on a second transmission shaft 25 in the gear transmission box 7 to reversely rotate, so that synchronous wheels 11 on the first transmission shaft 15 and the second transmission shaft 25 respectively drive corresponding synchronous belts 4 to rotate;

centering rod 1: four centering rods 1 are arranged, two centering rods are mutually staggered to form a rectangular frame with adjustable size, and the two centering rods are mutually parallel to form a group of two groups; two ends of each centering rod 1 are arranged on a sliding block 13 corresponding to the linear sliding rail 14; one end of each centering rod 1 is connected with the synchronous belt 4 on the upper layer, and the other end is connected with the synchronous belt 4 on the lower layer, so that the moving directions of the two centering rods 1 which are parallel to each other in the same group are opposite.

Specifically, the device consists of a linear slide rail 14, a centering rod 1, a driving wheel 12 assembly, a gear transmission box 7, a worm gear reducer 9, a tensioning wheel 26 assembly, a synchronous belt 4 and a box shell 22;

as shown in fig. 16, the linear slide rail 14 is mounted on the slide rail pad 3; the slide rail backing plate 3 is directly welded on the box shell 22, the linear slide rail 14 is fixed on the slide rail backing plate 3 through screws, the slide rail backing plate 3 can play a role in adjusting the overall height of the linear slide rail 14 and the slide block 13, and the slide block 13 can do linear motion along the linear slide rail 14 and is not separated from the slide rail;

four centering rods 1 are arranged, the tail end of the centering rod 1 is bent for 90 degrees to form a mounting plate, the mounting plate is fixed on a sliding block 13 on a linear sliding rail 14 through a screw, and the linear sliding rail 14 can only move along a specific track, so that the centering rod 1 can only move along a specific guide rail. The centering rod 1 and the synchronous belt 4 are connected through the synchronous belt pressing plate 2 and are fixed by screws, and then the movement of the synchronous belt 4 can be used as the power of the centering rod 1 to drive the centering rod 1 to move.

Case housing 22: the dimensions of the box housing 22 determine the installation position and the size of the linear slide rail 14, the centering rod 1 assembly, the driving wheel 12 assembly, the motor 6, the worm gear reducer 9, the gear box 7, the tension wheel 26 assembly and the synchronous belt 4.

The hole input worm 19 in the worm gear reducer 9 is connected with the motor 6, the worm 21 is connected with the first transmission shaft 15 in the gear box 7, and the gear box 7 is driven to rotate forward and backward through the forward and backward rotation of the motor 6, so that the normal operation of the centering device is ensured. The worm part 21 in the worm gear reducer 9 is a cylinder with spiral protrusions, and is matched with the worm part 20, the worm part 20 is a gear with a shape similar to a disc, and tooth grooves of the gear are surrounded by the spiral protrusions of the worm part 21. The contact surface between the worm part 21 and the worm part 20 forms a spiral friction transmission surface, and the engagement angle between the worm part 21 and the worm part 20 is greater than 90 degrees, so that when the rotation of the input end is stopped, the worm part 20 can prevent the reverse movement of the worm part 21, thereby achieving the effect of mechanical self-locking.

Synchronous belt 4: the winding mode of the synchronous belt 4 is determined by the positions of the driving wheel 12 on the driving wheel 12 assembly, the tensioning wheel 26 on the mounting seat 8 and the synchronous wheel 11 on the gear box 7, as shown in fig. 1. The first transmission shaft 15 and the second transmission shaft 25 on the gear transmission box 7 are both provided with the synchronizing wheel 11 and the transmission gear 17, the first transmission shaft 15 is inserted into the worm gear reducer 9, the motor 6 drives the worm gear reducer 9 to further drive the first transmission shaft 15, the first transmission shaft 15 drives the second transmission shaft 25 through two interactive gears, the synchronizing wheel 11 is arranged at the tail ends of the first transmission shaft 15 and the second transmission shaft 25, the gear teeth on the synchronizing wheel 11 and the gear teeth on the synchronous belt 4 are driven by the motor 6 to carry out meshing motion, and the centering rod 1 is connected with the synchronous belt 4 through the synchronous belt pressing plate 2, so that the motion direction of the first transmission shaft 15 and the motion direction of the second transmission shaft 25 are opposite when the motor 6 positively rotates, and the centering rod 1 is in an open state; the movement direction is the arrow direction of figure 1, when the motor 6 is reversed, the centering rod 1 with the same movement direction of the first transmission shaft 15 and the second transmission shaft 25 presents a closed state; the direction of movement is as indicated by the arrow in figure 2.

As shown in fig. 6, as a preferable mode of the above embodiment, upper and lower driving wheels 12 at the same corner are coaxially installed on the installation shaft 10; the mounting shaft 10 is mounted at both ends on an L-shaped seated bearing 5, and the L-shaped seated bearing 5 is mounted on the box housing 22.

Specifically, the driving wheel 12 assembly consists of 2L-shaped bearings 5 with seats, a mounting shaft 10 and 2 driving wheels 12. The middle part of the driving wheel 12 is smooth, the two sides are provided with flanges, the inside is provided with a bearing part 18, the bearing part 18 can be a ball bearing, and the moving shaft can be ensured to be motionless in the moving process. The whole centering system comprises four sets of driving wheel 12 assemblies, wherein the driving wheel assemblies are distributed at four corners of a box body as shown in fig. 6, and two synchronous belts 4 are pulled to form a square along the box body, so that the square can be always kept in the whole movement process of the synchronous belts 4, and the stability of the structure is kept as shown in fig. 7.

As shown in fig. 2, a tensioning wheel 26 for tensioning the timing belt 4 is provided in the case housing 22 as a preferable mode of the above embodiment.

Specifically, as shown in fig. 10-11, the tensioning wheel 26 assembly consists of a tensioning wheel 26, a mounting seat 8 and a rotating shaft 24; the driving wheel 12 is fixed on the mounting seat 8 through a rotating shaft 24 and two nuts 23, so that the synchronous belt 4 can stably move on the driving wheel 12 as shown in fig. 10. The holes on the mounting seat 8 are U-shaped strip holes as shown in fig. 11, so that the tightness of the synchronous belt 4 can be adjusted according to actual conditions after the synchronous belt 4 is mounted, and the synchronous belt 4 can work better.

As shown in fig. 1 and 7, as a preferable mode of the above embodiment, the outer wall of the synchronous belt 4 is provided with a tooth surface, the outer wall of the synchronous wheel 11 is provided with a tooth surface, and the outer wall of the synchronous belt 4 is meshed with the synchronous wheel 11; the inner wall of the synchronous belt 4 is mounted on the driving wheel 12.

As shown in fig. 13, as a preferable mode of the above embodiment, a first transmission shaft 15 and a second transmission shaft 25 are vertically provided in the gear box 7 assembly; the first transmission shaft 15 is connected with the output end of the worm gear reducer 9; the first transmission shaft 15 and the second transmission shaft 25 are provided with transmission gears 17, and the transmission gears 17 are meshed with each other; the ends of the first transmission shaft 15 and the second transmission shaft 25 are provided with synchronous wheels 11, and the synchronous wheels 11 respectively drive the synchronous belts 4 at the upper layer and the lower layer to rotate.

Specifically, the gear box 7 consists of a box body, 4 framework oil seals 16, 4 bearings 18, 1 first transmission shaft 15, 1 second transmission shaft 25, 2 transmission gears 17 and 2 synchronous wheels 11; the first transmission shaft 15 in the gear transmission box 7 is provided with the synchronizing wheel 11, the synchronous belt 4 moves through the synchronizing wheel 11 and the transmission wheel 12, the first transmission shaft 15 is inserted into an output shaft hole of the worm gear reducer 9, the motor 6 drives the worm gear reducer 9 to further drive the first transmission shaft 15, and the first transmission shaft 15 drives the second transmission shaft 25 through two interactive gears, so that the forward rotation of the first transmission shaft 15 and the reverse rotation of the second transmission shaft 25 are realized. The synchronous wheels 11 are arranged at the tail ends of the first transmission shaft 15 and the second transmission shaft 25, when the driving motor 6 rotates forward, the synchronous belt 4 can be driven to move in the forward direction through the first transmission shaft 15, as indicated by an arrow pointing direction in fig. 1, and the synchronous belt 4 can be driven to move in the reverse direction through the second transmission shaft 25, as indicated by an arrow moving direction in fig. 2. Thereby bringing the centering lever 1 to an open or closed state.

As shown in fig. 1-2, as a preferred mode of the above embodiment, the centering rod 1 is provided with vertical mounting plates at both ends, which are connected with the corresponding slider 13 and timing belt 4.

As shown in fig. 14, as a preferable mode of the above embodiment, the centering rod 1 includes a straight rod portion 101 having a straight middle, and both ends of the straight rod portion 101 are provided with first bending portions 102 bent toward the same side; the first bending portion 102 is provided with a second bending portion 103 bent to the opposite side.

As shown in fig. 3, as a preferable mode of the above embodiment, two centering bars 1 of the same group are symmetrically arranged; and the first bending portions 102 are each provided inward. The working area of the return device can be increased, and the useless area is reduced.

Working principle:

the novel unmanned aerial vehicle nest is complex in structure and inconvenient to maintain and is designed innovatively. The device for assisting the centering of the nest unmanned aerial vehicle in a transmission mode of a single motor 6 by taking two synchronous belts 4 as media is provided.

Description of movement principle:

the four corners of the box body shell 22 are provided with driving wheel 12 assemblies, four sides of the box body shell are provided with linear slide rails 14, the linear slide rails are arranged on the linear slide rail backing plate 3, the tail end of the centering rod 1 is bent for 90 degrees to form a mounting plate, and the mounting plate is respectively fixed at the linear slide rails 14 and on the synchronous belt 4 through screws and the synchronous belt pressing plate 2; and the synchronous belt 4 determines the winding height and winding shape of the synchronous belt 4 through the driving wheel 12 assembly, the tension wheel 26 on the mounting seat 8 and the two synchronous wheels 11 on the gear box 7. As shown in fig. 15, the timing belt 4 has a smooth and arc tooth shape, and one surface of the arc tooth shape is connected to the timing wheel 11 on the gear box 7 to form a meshing motion when the motor 6 is operated. The synchronizing wheel 11 on the gear box 7 is arranged on the first transmission shaft 15 and the second transmission shaft 25, the first transmission shaft 15 is inserted into the output shaft hole of the worm gear reducer 9, the motor 6 drives the worm gear reducer 9 to further drive the first transmission shaft 15, and the first transmission shaft 15 realizes that the first transmission shaft 15 positively rotates and the second transmission shaft 25 reversely rotates through the two meshing transmission gears 17. When the motor 6 rotates positively, the rotation direction of the first transmission shaft 15 is opposite to that of the second transmission shaft 25, the synchronous belt 4 on the synchronous wheel 11 is driven to move, and the centering rod 1 is fixed with the sliding block 13 on the linear guide rail and the synchronous belt pressing plate 2 on the synchronous belt 4, so that the centering rod 1 moves linearly towards the interior of the machine nest, and the centering closing is realized as shown by the arrow movement direction in fig. 1; when the motor 6 is reversed, the rotation direction of the first transmission shaft 15 is opposite to that of the second transmission shaft 25, so that the centering rod 1 moves linearly towards the outside of the machine nest, and the centering opening is realized as shown by an arrow in fig. 2.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Specific examples are used herein to illustrate the principles and embodiments of the present patent technical solution, and the above examples are only used to help understand the method of the present patent and its core ideas. The foregoing is merely a preferred embodiment of the present patent, and it should be noted that, due to the limited text expression, there is objectively an infinite number of specific structures, and it will be apparent to those skilled in the art that several modifications, adaptations or variations can be made and the above technical features can be combined in a suitable manner without departing from the principles of the present patent; such modifications, variations, or combinations, or the direct application of the concepts and aspects of the disclosed patent to other applications without modification, are intended to be within the scope of the present disclosure.

Claims

1. Double synchronous belt drive formula unmanned aerial vehicle nest device of returning to middle, a serial communication port includes:

box housing (22): two layers of driving wheels (12) are arranged at four corners of the inner wall up and down, and corresponding synchronous belts (4) are respectively mounted on the upper layer of driving wheels (12) and the lower layer of driving wheels (12); the four walls of the inner side face are provided with linear slide rails (14);

and a driving assembly: comprises a motor (6), a gear box (7) and a worm and gear reducer (9); the motor (6) is connected with the worm gear reducer (9), a first transmission shaft (15) is arranged at the output end of the worm gear reducer (9), a transmission gear (17) on the first transmission shaft (15) positively rotates to drive a transmission gear (17) on a second transmission shaft (25) in the gear transmission box (7) to reversely rotate, so that synchronous wheels (11) on the first transmission shaft (15) and the second transmission shaft (25) respectively drive corresponding synchronous belts (4) to rotate;

centering rod (1): the two rectangular frames are staggered and distributed in a cross shape to form a rectangular frame with adjustable size; two ends of each centering rod (1) are arranged on a sliding block (13) corresponding to the linear sliding rail (14); one end of each centering rod (1) is connected with the synchronous belt (4) on the upper layer, and the other end is connected with the synchronous belt (4) on the lower layer, so that the moving directions of the two centering rods (1) which are parallel to each other are opposite.

2. The double synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein the upper and lower driving wheels (12) at the same corner are coaxially arranged on the installation shaft (10); the two ends of the mounting shaft (10) are mounted on the L-shaped bearing with a seat (5), and the L-shaped bearing with a seat (5) is mounted on the box body shell (22).

3. The double synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein a tensioning wheel (26) for tensioning the synchronous belt (4) is arranged in the box shell (22).

4. The double synchronous belt driving type unmanned aerial vehicle nest centering device according to claim 1, wherein the outer wall of the synchronous belt (4) is provided with a tooth surface, the outer wall of the synchronous wheel (11) is provided with a tooth surface, and the outer wall of the synchronous belt (4) is meshed with the synchronous wheel (11); the inner wall of the synchronous belt (4) is mounted on the driving wheel (12).

5. The double synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein a first transmission shaft (15) and a second transmission shaft (25) are vertically arranged in the gear box (7) assembly; the first transmission shaft (15) is connected with the output end of the worm gear reducer (9); the first transmission shaft (15) and the second transmission shaft (25) are provided with transmission gears (17), and the transmission gears (17) are meshed with each other; the ends of the first transmission shaft (15) and the second transmission shaft (25) are provided with synchronous wheels (11), and the synchronous wheels (11) respectively drive synchronous belts (4) at the upper layer and the lower layer to rotate.

6. The double synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein vertical mounting plates are arranged at two ends of the centering rod (1), and the mounting plates are connected with corresponding sliding blocks (13) and synchronous belts (4).

7. The double synchronous belt driven unmanned aerial vehicle nest centering device according to claim 1, wherein the centering rod (1) comprises a straight rod part (101) with a straight middle part, and first bending parts (102) bending towards the same side are arranged at two ends of the straight rod part (101); the end of the first bending part (102) is provided with a second bending part (103) bending towards the opposite side.

8. The double synchronous belt driven unmanned aerial vehicle nest centering device according to claim 7, wherein two centering rods (1) of the same group are symmetrically arranged; and the first bending parts (102) are all arranged inwards.