WO2019085152A1

WO2019085152A1 - Clamping device and a base station having same, and unmanned aerial vehicle system

Info

Publication number: WO2019085152A1
Application number: PCT/CN2017/115249
Authority: WO
Inventors: 刘煜程; 王铭熙; 陈翔宇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-10-30
Filing date: 2017-12-08
Publication date: 2019-05-09
Also published as: CN207466993U; CN109890703A; CN109890703B

Abstract

A clamping device and a base station having the same, and an unmanned aerial vehicle system. The unmanned aerial vehicle system comprises an unmanned aerial vehicle (700) and a base station. The base station comprises a landing platform (100) for supporting the unmanned aerial vehicle and a clamping device (200). The clamping device comprises clamping portions (1) and a driving mechanism (2) connected with and used to drive the clamping portions (1). The driving mechanism can drive the clamping portions to move relative to the landing platform, such that the clamping portions are selectively in a closed state or an open state. When the unmanned aerial vehicle is landed on the landing platform at a specified location, the driving mechanism drives the clamping portions to move relative to the landing platform to achieve the open state so as to press a landing gear of the unmanned aerial vehicle against the landing platform. When the driving mechanism drives the clamping portions to move relative to the landing platform to achieve the closed state, the clamping portions loosen the landing gear. The invention employs a pressing device to automatically fix a landing gear of an unmanned aerial vehicle, has a simple structure, and can be operated conveniently.

Description

Clamping device and base station and drone system with clamping device

Technical field

The present invention relates to the field of unmanned aerial vehicle positioning, and more particularly to a clamping device and a base station and a drone system having the clamping device.

Background technique

With the development of computer vision technology, the automatic landing technology of drones has also been greatly improved. The drone can drop down to a predetermined landing area on the guidance of the machine vision sensor provided thereon.

At present, after the drone landed in the landing area of the base station, it is necessary to further fix the drone, thereby maintaining the drone at a specified position in the landing area, preventing the drone from moving, thereby facilitating the drone. Perform the next step, for example, performing a charging operation on the drone.

Summary of the invention

The present invention provides a clamping device and a base station and a drone system having the clamping device.

Specifically, the present invention is achieved by the following technical solutions:

According to a first aspect of the present invention, there is provided a clamping device for fixing a drone to a base station, the base station comprising a landing platform for carrying a drone, the clamping device comprising a clamping portion and The clamping portion drives the connected driving mechanism; wherein the driving mechanism is capable of driving the clamping portion to move relative to the landing platform such that the clamping portion is selectively in a retracted state or an open state; The driving mechanism drives the clamping portion to move to the open state relative to the landing platform when the drone is carried at a designated position on the landing platform, the clamping portion is for The tripod of the drone is pressed on the landing platform; when the drive machine The clamping portion is used to release the tripod when the clamping portion is moved relative to the landing platform to the retracted state.

Optionally, further comprising a transmission mechanism, one end of the transmission mechanism is drivingly connected to the driving mechanism, and the other end is connected to the clamping portion; the driving mechanism rotates to drive the transmission mechanism to push the clamping portion relative to Moving on the landing platform.

Optionally, the transmission mechanism includes an abutting member connected to the driving mechanism and a connecting rod, one end of the connecting rod abuts the abutting member, and the other end is connected to the clamping portion; when the driving When the mechanism rotates, the abutting member pushes against the connecting rod to drive the clamping portion to press the tripod on the landing platform.

Optionally, the abutting member is a cam, and a spindle of the driving mechanism is coupled to the cam via a coupling.

Optionally, the connecting rod is a four-link, including a first connecting rod and a second connecting rod disposed opposite to the first connecting rod; the resisting member abuts against the first connecting rod One side of the second link, the clamping portion is coupled to a side of the four links that is away from the first link.

According to a second aspect of the present invention, there is provided a base station comprising a landing platform for carrying a drone, further comprising the above-described clamping device.

Optionally, further comprising two first slanting plates disposed on the landing platform and oppositely disposed; when the drone is carried at a designated position on the landing platform, the two first slanting The plates respectively abut on both sides of the stand.

Optionally, further comprising a second slanting plate disposed on the landing platform, wherein the second slanting plate is disposed on the same side of the two first sloping plates, and the two first slanting plates and The second slanting plate encloses the landing platform to form a landing area, and the two first slanting plates and the second slanting plate are gradually opened away from the landing platform; the designated position Located in the landing area, when the drone is carried in the landing area and slid to the designated position toward the second slanting plate, the two first slanting plates respectively abut the The two sides of the tripod are parallel to the sliding direction, and the second slanting plate abuts on the other side of the stand perpendicular to the sliding direction.

Optionally, the clamping device is two, and the two first inclined plates are respectively provided with receiving grooves, and the two clamping devices are correspondingly matched with the two receiving grooves; when the clamping portion is When the landing platform moves to the retracted state, the clamping portion is received in a corresponding receiving slot and Corresponding first swash plates are coplanar; when the drone is carried in the designated position, the clamping portion moves to the open state with respect to the landing platform, and the clamping portion is correspondingly received The slot extends and presses the stand on the landing platform.

Optionally, sides of the same side of the two first inclined plates are respectively connected to two sides of the second inclined plate.

Optionally, a transition swash plate is further included, and sides of the same side of the two first slant plates are respectively connected to the two sides of the second slanting plate through the transition swash plate.

Optionally, a transition section for guiding the tripod to the landing area is further included, and the first slanting plate and the second slanting plate are respectively connected to the landing platform by a transition section.

Optionally, one side of the transition section facing the landing area is a circular arc transition surface or a curved transition surface.

Optionally, the designated location is provided with a landing identifier.

Optionally, the first inclined plate is provided with a slot.

According to a third aspect of the present invention, there is provided a drone system comprising a drone, further comprising the base station, wherein the drone is carried on a landing platform of the base station.

It can be seen from the technical solution provided by the above embodiments of the present invention that the driving mechanism drives the clamping portion to move relative to the landing platform, so that the clamping portion can be switched between the retracted state and the open state. On the one hand, when the drone is landed at the designated position, the tripod of the drone is pressed on the base station through the clamping portion, thereby clamping and fixing the drone at the designated position. On the other hand, when the drone needs to leave the designated position, the pressing portion can be released from the stand of the drone by operating the pressing portion. The stand of the drone is automatically fixed by the pressing device, and the structure is simple and the operation is convenient.

The above general description and the following detailed description are intended to be illustrative and not restrictive.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

Figure 1 is a perspective view of a clamping device in one of the directions of an embodiment of the present invention;

Figure 2 is a perspective view of the clamping device in another direction according to an embodiment of the present invention;

Figure 3 is a perspective view of the clamping device in another direction in accordance with an embodiment of the present invention;

4 is a schematic structural view of a clamping device according to an embodiment of the present invention;

Figure 5 is a perspective view of the clamping device in one side of the embodiment of the present invention;

6 is a perspective view of a base station in one direction of an embodiment of the present invention;

7 is a perspective view of a base station in another direction according to an embodiment of the present invention;

Figure 8 is a perspective view of a drone system in accordance with an embodiment of the present invention.

Reference mark:

100: landing platform; 101: landing area; 102: wearing holes;

200: clamping device; 1: clamping portion; 2: driving mechanism; 3: transmission mechanism; 31: resisting member; 32: connecting rod; 321: first connecting rod; 322: second connecting rod; Shaft; 5: support frame;

300: first slanting plate; 310: accommodating groove;

400: second swash plate

500: transition sloping plate;

600: transition section;

700: drone; 710: fuselage; 720: tripod; 721: first tripod; 722: second tripod.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. The following description refers to the same or similar elements in the different figures unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Instead, they are merely examples of devices and methods consistent with aspects of the invention as detailed in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments, and is not intended to limit the invention. The singular forms "a", "the" and "the" It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, the first information may also be referred to as the second information without departing from the scope of the invention. Similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to a determination."

The clamping device 200 of the present invention and the base station and the drone system having the clamping device 200 will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

Embodiment 1

1 to 5, an embodiment of the present invention provides a clamping device 200. Referring again to FIG. 8, the clamping device 200 can be used to secure the drone 700 to a base station, wherein the base station can include a landing platform 100 for carrying the drone 700.

Referring to Figures 1 and 2, the clamping device 200 can include a clamping portion 1 and a drive mechanism 2. The drive mechanism 2 is drivingly coupled to the clamping portion 1 . The drive mechanism 2 is capable of driving the clamping portion 1 to move relative to the landing platform 100 such that the clamping portion 1 is selectively retractable or open. Alternatively, the movement of the clamping portion 1 relative to the landing platform 100 may include two situations: the clamping portion 1 is away from the landing platform 100 such that the clamping portion 1 is in a retracted state. Or the clamping portion 1 is close to the landing platform 100 such that the clamping portion 1 is in an open state.

In a practical application scenario, the driving mechanism 2 can be driven as needed, so that the clamping portion 1 is in a retracted state or an open state to meet different needs. For example, in the present embodiment, when the drone 700 is carried at a designated position on the landing platform 100, the driving mechanism 2 drives the clamping portion 1 to move relative to the landing platform 100 to the Open state The clamping portion 1 is configured to press the stand 720 of the drone 700 on the landing platform 100 to prevent the drone 700 from moving. In the embodiment, in the open state, the tripod 720 is sandwiched between the clamping portion 1 and the landing platform 100. The magnitude of the pressing force applied to the stand 720 when the clamp unit 1 presses the stand 720 can be selected according to the firmness requirement of the fixed drone 700.

The clamping portion 1 is used to release the stand 720 when the driving mechanism 2 drives the clamping portion 1 to move to the retracted state relative to the landing platform 100. After the clamp portion 1 releases the stand 720, the drone 700 can fly away from the landing platform 100.

In the embodiment of the present invention, the clamping portion 1 is driven to move relative to the landing platform 100 in an automatic manner such that the clamping portion 1 is switched between the retracted state and the open state. On the one hand, when the drone 700 is dropped to a designated position, the stand 720 of the drone 700 is pressed to the base station by the clamp portion 1, thereby clamping and fixing the drone 700 at a designated position. On the other hand, when the drone 700 needs to leave the designated position, the pressing portion can be released from the stand 720 of the drone 700 by operating the pressing portion. The stand 720 of the drone 700 is automatically fixed by the pressing device, and the structure is simple and the operation is convenient.

Further, the clamping portion 1 may be provided with a groove. When the clamping portion 1 is in the open state, the stand 720 is snapped into the groove, thereby more firmly fixing the drone 700 at a designated position, thereby improving the effect of the unmanned aerial vehicle 700 being fixed.

A soft layer may be disposed on the clamping portion 1. When the clamping portion 1 is in the open state, the clamping portion 1 presses the stand 720 at a designated position through the soft layer to avoid scraping to the stand 720. The material of the soft layer may be selected from rubber or other soft materials.

In addition, when the clamping portion 1 is in the open state, the contact area of the clamping portion 1 and the stand 720 can be selected according to the firmness requirement of the fixed drone 700, the shape structure of the stand 720, etc., so that the drone 700 Can be fixed relatively firmly at the specified position.

The designated position may be an area location or a point location. In this embodiment, the designated location is an area location. The center of the body 710 may be referred to as a reference. When the center of the body 710 is aligned up and down with the center of the designated position (referred to as the drone 700 is carried over the landing platform 100), it indicates that the drone 700 is carried on The designated location on the landing platform 100. Of course, in other embodiments, the designated position may also be a point position, when the center of the body 710 is aligned up and down with the designated position (the drone 700 is carried on the landing platform 100). When the reference is for reference, it indicates that the drone 700 is carried at a designated position on the landing platform 100.

Wherein, the driving mechanism 2 can be a steering gear or other structure capable of providing a driving force. In the present embodiment, the drive mechanism 2 is taken as an example of a steering gear.

1 and 2, the clamping device 200 can also include a transmission mechanism 3. One end of the transmission mechanism 3 is drivingly connected to the steering gear, and the other end is connected to the clamping portion 1. Wherein, the steering gear rotates to drive the transmission mechanism 3 to move the clamping portion 1 relative to the landing platform 100, and the transmission mechanism 3 transmits the driving force of the steering gear to the clamping portion 1, thereby achieving clamping The movement of the portion 1 relative to the landing platform 100.

Further, in conjunction with FIGS. 1 through 5, the transmission mechanism 3 may include an abutment member 31 and a link 32. The abutting member 31 is connected to the steering gear. In this embodiment, the urging member 31 can directly or indirectly connect the steering gear. For example, the steering gear can be connected to the urging member 31 via a coupling 4, thereby driving the steering gear. It is transmitted to the pusher 31. With reference to FIG. 1 , FIG. 2 and FIG. 5 , a support frame 5 may be disposed between the abutting member 31 and the coupling 4 , and a part of the abutting member 31 passes through the support frame 5 and The couplings 4 are connected. Further, the abutting member 31 may be a cam, and the cam includes a connecting shaft. The main shaft of the steering gear is coupled to the connecting shaft of the cam via a coupling 4. The circumferential outer wall of the cam abuts the link 32 (in the figure, the circumferential outer wall of the cam abuts the first link 321 of the link 32). When the steering gear rotates, the cam is rotated, and the circumferential outer wall of the cam pushes the connecting rod 32 to move, thereby driving the clamping portion 1 to move near the landing platform 100. Of course, the type of the pushing member 31 is not limited to the cam.

One end of the connecting rod 32 abuts against the abutting member 31, and the other end is connected to the clamping portion 1. When the steering gear rotates, the abutting member 31 pushes the connecting rod 32 to drive the clamping portion 1 to press the tripod 720 on the landing platform 100, thereby The machine 700 is fixed to the landing platform 100. When the steering gear stops rotating (ie, the steering gear is released), the connecting rod 32 can be reset by the elastic force, thereby driving the clamping portion 1 to release the tripod 720.

Optionally, an elastic member (for example, a spring) is disposed between the connecting rod 32 and the abutting member 31, or an elastic member is disposed inside the connecting rod 32. When the steering gear stops rotating, the link 32 is reset by the elastic force of the elastic member. Optionally, the connecting rod 32 includes an elastic portion, and the elastic portion is in abutting connection with the abutting member 31. When the steering gear stops rotating, the link 32 is reset by the elastic force of the elastic member.

Further, in conjunction with FIGS. 1 through 5, the link 32 can be a four-bar linkage 32, which can include a first link 321 and a second link 322. The first link 321 is opposite to the second link 322. The urging member 31 abuts the side of the first link 321 away from the second link 322, and the clamping portion 1 is connected to the four links 32 away from the first link One side of 321 . Specifically, when the steering gear rotates, the pushing member 31 is pushed against the first connecting rod 321 , and the four connecting rods 32 are deformed under the abutting force of the resisting member 31 to drive the clip. The tight portion 1 moves close to the landing platform 100. When the steering gear stops rotating, the first link 321 is reset by the elastic force, and the other portions of the four links 32 are brought back to be reset, so that the clamping portion 1 moves away from the landing platform 100 ( That is reset).

In an embodiment, the elastic member is disposed between the second link 322 and the abutting member 31, or the elastic member is disposed in the second link 322. When the steering gear stops rotating, the second link 322 is reset by the elastic force of the elastic member, thereby driving the four links 32 to be reset overall, further driving the clamping portion 1 to be reset. In another embodiment, the elastic portion is at least a portion of the second link 322, and the elastic portion is in abutting connection with the abutting member 31. When the steering gear stops rotating, the second link 322 is reset by the elastic force of the elastic portion, thereby driving the four links 32 to be reset overall, and further driving the clamping portion 1 to be reset.

Embodiment 2

6 to 8, the present invention provides a base station that can include a landing platform 100 for carrying the drone 700 and the clamping device 200 of the first embodiment described above. In this embodiment, when the drone 700 is lowered to the designated position, the stand 720 of the drone 700 can be pressed on the base station by the clamping portion 1, thereby clamping and fixing the drone 700 at the designated position. . When the drone 700 needs to leave the designated position, the pressing portion can be operated to release the pressing portion of the UAV 700 by the pressing portion, which is simple in implementation.

6 to 8, the base station may further include two first slanting plates 300 disposed on the landing platform 100. Two of the first swash plates 300 are opposite to each other. When the unmanned aerial vehicle 700 is carried in a designated position on the landing platform 100, the two first slanting plates 300 respectively abut on both sides of the tripod 720, so that the feet of the multi-unmanned vehicle 700 The shelf 720 is limited to better position the drone 700 at the designated location.

Further, referring to FIG. 6 and FIG. 7, the base station may further include a landing platform provided on the landing platform. The second swash plate 400 on the 100. Specifically, the second swash plate 400 is disposed on the same side of the two first swash plates 300. In this embodiment, the two first inclined plates 300 and the second inclined plate 400 enclose the landing platform 100 to form a landing area 101, and the two first inclined plates 300 and the first The two swash plates 400 are gradually opened in a direction away from the landing platform 100, and the two first swash plates 300 and the second slant plates 400 are distributed radially around the landing area 101.

The designated position is located in the landing area 101, and when the drone 700 is carried in the landing area 101 and slid to the designated position toward the second swash plate 400, the two first The swash plate 300 abuts on both sides of the stand 720 parallel to the sliding direction, and the second swash plate 400 abuts on the other side of the stand 720 perpendicular to the sliding direction.

It should be noted that in the present embodiment, when the nose and the tail of the drone 700 are respectively used as the front-rear direction of the drone 700, the sliding direction of the drone 700 is parallel to the front-rear direction of the drone 700. The two first slanting plates 300 respectively abut on the two sides of the stand 720 parallel to the sliding direction, that is, the two first slanting plates 300 respectively abut on the left and right sides of the stand 720, Thus, by providing two first slanting plates 300, the lateral displacement of the drone 700 during the landing is guided, and the drone 700 is laterally limited.

The second swash plate 400 abuts on the other side of the stand 720 perpendicular to the sliding direction, which means that the second swash plate 400 abuts on the front end of the stand 720, thereby setting the first The slanting plate 400 guides the forward displacement of the drone 700 in the longitudinal direction to limit the front end of the drone 700.

In this embodiment, by setting the first slanting plate 300 and the second swash plate 400, the lateral and front ends of the drone 700 are respectively restricted, thereby positioning the drone 700 at a designated position. After the drone 700 has landed to a certain height, the stand 720 of the drone 700 contacts any one or more of the first swash plate 300 and the second slant plate 400, so that the drone 700 continues to descend. The drone 700 can continue to descend against any one or more of the first swash plate 300 and the second swash plate 400 until the drone 700 slides into the designated position.

Referring again to Figures 6, 7, and 8, the clamping device 200 is two. The two first inclined plates 300 are respectively provided with receiving grooves 310, and the two clamping devices 200 are correspondingly engaged with the two receiving grooves 310. Specifically, when the clamping portion 1 is moved relative to the landing platform 100 to In the retracted state, the clamping portion 1 is received in the corresponding receiving groove 310 and coplanar with the corresponding first swash plate 300 so as not to impair the function realization of the first swash plate 300. The clamping portion 1 is received in the corresponding receiving groove 310 and is coplanar with the corresponding first slanting plate 300 to the side of the clamping portion 1 facing the landing region 101 and the first slanting plate 300 facing the landing region 101. One side is coplanar. When the drone 700 is carried in the designated position, the clamping portion 1 moves to the open state relative to the landing platform 100, and the clamping portion 1 is extended by the corresponding receiving slot 310. The stand 720 is pressed onto the landing platform 100 such that the drone 700 is clamped and fixed at a designated position.

Of course, the number of the clamping devices 200 is not limited to two, and may be one or two or more to meet different clamping requirements.

The position of the clamping device 200 is not limited to being disposed on the first slanting plate 300. For example, in an embodiment, the landing area 101 is provided with a receiving slot (not shown), and the clamping device 200 and the The storage slot is matched. When the clamping portion 1 is moved to the retracted state relative to the landing platform 100, the clamping portion 1 is received in a corresponding receiving groove. Preferentially, the clamping portion 1 is coplanar with the landing region 101, and when the drone 700 is slid in the landing region 101, the receiving groove blocks the sliding of the stand 720. When the drone 700 is carried in the designated position, the clamping portion 1 moves to the open state relative to the landing platform 100, and the clamping portion 1 is extended by a corresponding receiving slot and The stand 720 is press-fitted on the landing platform 100 such that the drone 700 is clamped and fixed at a designated position.

In this embodiment, the sides of the same side of the two first slanting plates 300 are respectively connected to the two sides of the second swash plate 400, thereby ensuring the integrity of the first slanting plate 300 and the second swash plate 400, and Stiffness. For example, in one embodiment, the two first swash plates 300 are integrally formed with the second swash plate 400.

In another embodiment, in conjunction with FIG. 6 and FIG. 7, the base station may further include a transition swash plate 500, and the sides of the same side of the two first slanting plates 300 are respectively connected through the transition swash plate 500. The two sides of the second swash plate 400 are described. The two first swash plates 300, the second slanting plates 400, and the transition swash plate 500 are gradually opened in a direction away from the landing platform 100.

Further, in some embodiments, the base station may further include a transition section 600, and the first slanting plate 300 and the second swash plate 400 may be connected to the landing platform 100 through a transition section 600, respectively. , thereby guiding the stand 720 to slide to the landing through the transition section 600 The area 101 prevents the drone 700 from descending to the end of the first slanting plate 300 or the second slanting plate 400 at any one or more of the first swash plate 300 and the second slanting plate 400 (the first slanting plate 300 or When the second swash plate 400 is close to one end of the landing platform 100), it is caught by the first slanting plate 300 or the second swash plate 400.

The transition section 600 of the present embodiment is convex toward one side of the landing area 101. The shape of the excessive section can be set as needed. For example, in one embodiment, the transition section 600 is a circular arc transition surface toward one side of the landing area 101, reducing the distance between the tripod 720 and the transition surface. The friction quickly guides the drone 700 down.

In another embodiment, the side of the transition section 600 facing the landing area 101 is a curved transition surface, so that the drone 700 can be quickly guided down.

The designated location may be provided with a landing marker for marking the location of the drone 700 descending. Wherein, the type of the landing marker can be selected according to requirements. For example, a rubber layer or a layer structure formed by other materials may be disposed at the specified position, and a layer structure formed of a rubber layer or other materials is used as the landing mark.

The base station also includes a robotic arm (not shown) that is disposed below the landing platform 100. The landing platform 100 is provided with a through hole 102 and a blocking portion (not shown) that cooperates with the through hole 102. Normally, the periphery of the stopping portion abuts against the inner side wall of the through hole 102, and the stopping portion is coplanar with the landing platform 100 to avoid hindering the drone 700 from sliding. When the drone 700 is carried in the designated position, the stop is opened, and the robot arm can protrude from the through hole 102 to perform battery replacement or other operations on the drone 700.

The first slanting plate 300 or the second swash plate 400 may be provided with a groove (not shown). When the drone 700 includes a propeller, during the landing of the drone 700, the downwash flow of the propeller affects the attitude control of the drone 700. A groove is provided in the first slanting plate 300 or the second slanting plate 400 so that the lower washing airflow can be discharged in time, thereby reducing the influence on the posture of the drone 700. Of course, the first swash plate 300 and the second swash plate 400 may not be grooved, which simplifies the overall structure and improves the strength of the first slant plate 300 and the second slant plate 400.

Embodiment 3

Referring to FIG. 8, a third embodiment of the present invention provides an unmanned aerial vehicle system, which may include a drone 700 and a base station of the second embodiment. The drone 700 is carried on the landing platform 100 of the base station.

The drone 700 includes a body 710 and a stand 720. The tripod 720 can include a first stand 721 and a second stand 722. The first stand 721 and the second stand 722 are respectively disposed at two sides of the body 710. The first stand 721 can include a first support frame and a first sliding frame (not shown), and the second stand 722 can include a second support frame and a second sliding frame (not shown). One side of the first support frame is connected to one side of the fuselage 710, and the other side of the first support frame is connected to the first slide frame. One side of the second support frame is connected to the other side of the fuselage 710, and the other side of the second support frame is connected to the second slide frame. The first sliding frame and the second sliding frame are arranged in parallel, and when the drone 700 is lowered, the first sliding bracket and the second sliding bracket contact any one or more of the first inclined plate and the second inclined plate. And when the drone 700 descends to the landing platform 100, the first sliding bracket and the second sliding bracket are slidably engaged with the landing platform 100 to slide to a designated position.

When the unmanned aerial vehicle 700 is lowered to a designated position, a side of the first sliding frame that is away from the second sliding frame abuts one of the first slanting plates 300, and the first abutting contact with the first sliding bracket The clamping device 200 on the swash plate 300 presses the first sliding frame on the landing platform 100 to limit the sliding of the first sliding frame. At the same time, the side of the second sliding frame away from the first sliding frame abuts the other first inclined plate 300, and accordingly, the clamping device 200 on the first inclined plate 300 abutting the second sliding frame will The second sliding frame is press-fitted on the landing platform 100 to restrict the sliding of the second sliding frame, thereby fixing the drone 700 to the base station.

The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalents, improvements, etc., which are made within the spirit and principles of the present invention, should be included in the present invention. Within the scope of protection.

Claims

A clamping device for fixing a drone to a base station, the base station comprising a landing platform for carrying a drone, wherein the clamping device comprises a clamping portion and the clamping portion a drive mechanism that drives the connection;

Wherein the driving mechanism is capable of driving the clamping portion to move relative to the landing platform such that the clamping portion is selectively in a retracted state or an open state;

The driving mechanism drives the clamping portion to move to the open state relative to the landing platform when the drone is carried at a designated position on the landing platform, the clamping portion is for The tripod of the drone is pressed on the landing platform;

The clamping portion is used to release the stand when the drive mechanism drives the clamping portion to move to the retracted state relative to the landing platform.
The clamping device according to claim 1, further comprising a transmission mechanism, wherein one end of the transmission mechanism is drivingly coupled to the driving mechanism, and the other end is coupled to the clamping portion;

The driving mechanism rotates to drive the transmission mechanism to push the clamping portion to move relative to the landing platform.
A clamping device according to claim 2, wherein said transmission mechanism includes a biasing member and a connecting rod connected to said driving mechanism, one end of said connecting rod abutting said abutting member, and the other end Connecting the clamping portion;

When the driving mechanism rotates, the pressing member pushes against the connecting rod to drive the clamping portion to press the tripod on the landing platform.
A clamping device according to claim 3, wherein said abutting member is a cam, and a spindle of said drive mechanism is coupled to said cam via a coupling.
A clamping device according to claim 3, wherein said connecting rod is a four-bar linkage comprising a first connecting rod and a second connecting rod disposed opposite said first connecting rod;

The urging member abuts a side of the first link away from the second link, and the clamping portion is coupled to a side of the four links away from the first link.
A base station comprising a landing platform for carrying a drone, characterized in that it further comprises a clamping device for fixing the drone to the base station, the clamping device comprising a clamping portion and a drive mechanism drivingly coupled to the clamping portion;

Wherein the driving mechanism is capable of driving the clamping portion to move relative to the landing platform such that the clamping portion is selectively in a retracted state or an open state;

The driving mechanism drives the clamping portion to move to the open state relative to the landing platform when the drone is carried at a designated position on the landing platform, the clamping portion is for The tripod of the drone is pressed on the landing platform;

The clamping portion is used to release the stand when the drive mechanism drives the clamping portion to move to the retracted state relative to the landing platform.
The base station according to claim 6, further comprising a transmission mechanism, wherein one end of the transmission mechanism is drivingly coupled to the drive mechanism, and the other end is coupled to the clamping portion;

The driving mechanism rotates to drive the transmission mechanism to push the clamping portion to move relative to the landing platform.
The base station according to claim 7, wherein said transmission mechanism comprises a pushing member connected to said driving mechanism and a connecting rod, one end of said connecting rod abuts said abutting member, and the other end is connected Clamping portion;

When the driving mechanism rotates, the pressing member pushes against the connecting rod to drive the clamping portion to press the tripod on the landing platform.
The base station according to claim 8, wherein said abutting member is a cam, and a spindle of said drive mechanism is coupled to said cam via a coupling.
The base station according to claim 8, wherein said link is a four-link, comprising a first link and a second link disposed opposite said first link;

The urging member abuts a side of the first link away from the second link, and the clamping portion is coupled to a side of the four links away from the first link.
The base station according to any one of claims 6 to 10, further comprising two first slanting plates disposed on the landing platform and oppositely disposed;

When the drone is carried at a designated position on the landing platform, the two first slanting plates respectively abut on both sides of the tripod.
The base station according to claim 11, further comprising a second slanting plate disposed on the landing platform, wherein the second slanting plate is disposed on the same side of the two first slanting plates, Two of the first swash plate and the second slanting plate enclose the landing platform to form a landing area, and the two first slanting plates and the second slanting plate face away from the landing platform Gradually Open

The designated position is located in the landing area, and when the drone is carried in the landing area and slid to the designated position in a direction toward the second slanting plate, the two first slanting plates respectively reach Connected to the two sides of the tripod parallel to the sliding direction, the second slanting plate abuts on the other side of the tripod perpendicular to the sliding direction.
The base station according to claim 12, wherein said two clamping devices are two, and said two first inclined plates are respectively provided with receiving grooves, and said two clamping devices and said two receiving grooves Corresponding cooperation

When the clamping portion moves to the retracted state relative to the landing platform, the clamping portion is received in a corresponding receiving groove and is coplanar with the corresponding first slanting plate;

When the drone is carried in the designated position, the clamping portion moves to the open state with respect to the landing platform, the clamping portion is extended by a corresponding receiving groove and the stand is Pressed on the landing platform.
The base station according to claim 12, wherein sides of the same side of the two first slanting plates are respectively connected to both sides of the second slanting plate.
The base station according to claim 14, further comprising a transition swash plate, wherein sides of the same side of the two first slanting plates are respectively connected to both sides of the second slanting plate via the transition swash plate .
A base station according to claim 12, further comprising a transition section for guiding said stand to slide to said landing zone, said first sloping plate and said second slanting plate respectively passing a transition section Connected to the landing platform.
The base station according to claim 16, wherein one side of the transition section toward the landing area is a circular arc transition surface or a curved transition surface.
The base station according to claim 12, wherein said designated location is provided with a landing marker.
The base station according to claim 12, wherein said first slanting plate is provided with a slot.
An unmanned aerial vehicle system comprising a drone and a base station, wherein the base station comprises a landing platform for carrying a drone, the base station further comprising a clamping device, the clamping device for The human machine is fixed to the base station, and the clamping device includes a clamping portion and is driven by the clamping portion Dynamically connected drive mechanism;

Wherein the driving mechanism is capable of driving the clamping portion to move relative to the landing platform such that the clamping portion is selectively in a retracted state or an open state;

The driving mechanism drives the clamping portion to move to the open state relative to the landing platform when the drone is carried at a designated position on the landing platform, the clamping portion is for The tripod of the drone is pressed on the landing platform;

The clamping portion is used to release the stand when the drive mechanism drives the clamping portion to move to the retracted state relative to the landing platform.
The drone system according to claim 20, further comprising a transmission mechanism, wherein one end of the transmission mechanism is drivingly coupled to the drive mechanism, and the other end is coupled to the clamping portion;

The driving mechanism rotates to drive the transmission mechanism to push the clamping portion to move relative to the landing platform.
The drone system according to claim 21, wherein said transmission mechanism comprises an abutting member connected to said driving mechanism and a connecting rod, one end of said connecting rod abutting said abutting member, and One end is connected to the clamping portion;

When the driving mechanism rotates, the pressing member pushes against the connecting rod to drive the clamping portion to press the tripod on the landing platform.
The drone system according to claim 22, wherein said abutting member is a cam, and a spindle of said drive mechanism is coupled to said cam via a coupling.
The unmanned aerial vehicle system according to claim 22, wherein said connecting rod is a four-bar linkage comprising a first connecting rod and a second connecting rod disposed opposite said first connecting rod;

The urging member abuts a side of the first link away from the second link, and the clamping portion is coupled to a side of the four links away from the first link.
The UAV system according to any one of claims 20 to 24, further comprising two first slanting plates disposed on the landing platform and oppositely disposed;

When the drone is carried at a designated position on the landing platform, the two first slanting plates respectively abut on both sides of the tripod.
A drone system according to claim 25, further comprising a second swash plate disposed on said landing platform, wherein said second slanting plate is disposed on said two first swash plates On the same side, the two first inclined plates and the second inclined plate enclose the landing platform to form a landing area, and the two first inclined plates and the second inclined plate face away from the The direction of the landing platform gradually opens;

The designated position is located in the landing area, and when the drone is carried in the landing area and slid to the designated position in a direction toward the second slanting plate, the two first slanting plates respectively reach Connected to the two sides of the tripod parallel to the sliding direction, the second slanting plate abuts on the other side of the tripod perpendicular to the sliding direction.
The unmanned aerial vehicle system according to claim 26, wherein said two clamping devices are two, and said two first inclined plates are respectively provided with receiving grooves, and said two clamping devices and two The storage slot is correspondingly matched;

When the clamping portion moves to the retracted state relative to the landing platform, the clamping portion is received in a corresponding receiving groove and is coplanar with the corresponding first slanting plate;

When the drone is carried in the designated position, the clamping portion moves to the open state with respect to the landing platform, the clamping portion is extended by a corresponding receiving groove and the stand is Pressed on the landing platform.
The drone system according to claim 26, wherein sides of the same side of the two first swash plates are respectively connected to both sides of the second swash plate.
The drone system according to claim 28, further comprising a transition swash plate, wherein sides of the same side of the two first slant plates are respectively connected to the second swash plate through the transition swash plate On both sides.
A drone system according to claim 26, further comprising a transition section for guiding said stand to slide to said landing zone, said first sloping plate and said second slanting plate respectively passing A transition section is coupled to the landing platform.
The UAV system according to claim 30, wherein one side of said transition section toward said landing area is a circular arc transition surface or a curved transition surface.
The drone system of claim 26 wherein said designated location is provided with a landing marker.
The drone system of claim 26, wherein the first sloping plate is provided with a slot.