Unmanned aerial vehicle nest

Abstract

The unmanned aerial vehicle nest comprises a nest unit, the nest unit comprises a nest body, an aligning mechanism, a lifting driving mechanism and a first transverse moving mechanism, the nest body is provided with two parallel parking garages, and each parking garage comprises a bearing platform and a plurality of parking platforms. The bearing platform can be selectively communicated with the parking platform, and the communicated parking platform can transversely move to the bearing platform so that the unmanned aerial vehicle can take off and land. The return mechanism is installed on the parking platform and used for controlling locking / unlocking of the unmanned aerial vehicle. The lifting driving mechanism drives the parking platforms of the two parking garages to ascend and descend reversely, and the first transverse moving mechanism clamps and transversely moves the parking platforms so that the parking platforms can flow between the two parking garages. According to the unmanned aerial vehicle nest, the two unmanned aerial vehicles can be dispatched cooperatively by the nest unit, so that the overall operation efficiency of the unmanned aerial vehicle nest can be improved, the site requirement during site installation of the unmanned aerial vehicle nest can be reduced, and the equipment manufacturing cost of the unmanned aerial vehicle nest is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field related to unmanned aerial vehicles, and particularly relates to a self-righting mechanism and an unmanned aerial vehicle nest. Background Art

[0002] Unmanned aerial vehicles have a wide range of application scenarios in fields such as power inspection, security monitoring, logistics distribution, and agricultural plant protection. Currently, the mainstream takeoff and landing mode of unmanned aerial vehicles adopts semi-automatic unmanned airport equipment, and a single nest is used to assist in the takeoff and parking of unmanned aerial vehicles. However, when on-site working conditions require supporting the collaborative operation of multiple unmanned aerial vehicles (such as high-frequency, multi-aircraft rotation takeoff and landing), the single unmanned airport equipment has the following problems: high site requirements: multiple independent nests need to be deployed, occupying a large area; cost and efficiency issues: repeated equipment configuration leads to increased costs, and the multi-aircraft scheduling efficiency is low; insufficient scalability: it is difficult to meet the requirements of high-frequency and high-concurrency operations. Therefore, it is necessary to design an unmanned aerial vehicle nest that can achieve multi-aircraft collaboration to support the simultaneous parking and takeoff of multiple unmanned aerial vehicles. Summary of the Invention

[0003] In view of this, it is necessary to provide an unmanned aerial vehicle nest that can achieve multi-aircraft collaborative scheduling.

[0004] An unmanned aerial vehicle nest includes a nest unit, and the nest unit includes:

[0005] A nest main body includes two hangars, and the two hangars are arranged in parallel along a first direction. Among them, each hangar includes a bearing platform and a plurality of parking platforms, and the bearing platform can be selectively communicated with the plurality of parking platforms; and the parking platform communicated with the bearing platform can move horizontally relative to the bearing platform, so that the unmanned aerial vehicle can take off and land on the parking platform located on the bearing platform.

[0006] A self-righting mechanism is correspondingly arranged with the parking platform, and at least part of the self-righting mechanism is installed on the corresponding parking platform for controlling the locking / unlocking of the unmanned aerial vehicle on the parking platform.

[0007] A lifting drive mechanism is installed on the nest main body for driving the parking platforms in the two hangars to lift.

[0008] A first transverse movement mechanism is installed between the two hangars for clamping and driving the parking platform to move horizontally in the first direction, so that the parking platform can flow between the two hangars.

[0009] It can be understood that the return mechanism is used to control the locking / unlocking of the drone on the parking platform, and then the lifting drive mechanism and the first transverse movement mechanism are used to realize the circulation of the parking platform in the two parking hangars of the machine nest unit, so that the machine nest unit can realize the coordinated scheduling of two drones. This not only improves the overall operating efficiency of the drone nest, but also reduces the site requirements for on-site installation of the drone nest and reduces the equipment manufacturing cost of the drone nest.

[0010] In one embodiment, the two bearing platforms in the nest unit are arranged at diagonal positions on opposite sides of the nest body in the first direction;

[0011] Among them, the number of the first transverse movement mechanisms in the machine nest unit is configured as two, and the two first transverse movement mechanisms are arranged at the two end positions of the machine nest body in the vertical direction; the moving directions of the two first transverse movement mechanisms are arranged in opposite directions, and the lifting directions of the parking platforms in the two parking hangars are arranged in opposite directions, so that the parking platform can circulate in the two parking hangars.

[0012] It can be understood that the two load-bearing platforms for drone take-off and landing in the machine nest unit are arranged at diagonal positions on opposite sides of the machine nest body, and two reverse first transverse movement mechanisms and two reverse lifting hangars are used to realize the circulation of the parking platforms in the two hangars, so that the machine nest unit can realize the take-off and landing operations of two drones at the same time without interfering with each other, which can improve the overall operation efficiency of the drone nest.

[0013] In one embodiment, the hangar further comprises a main frame, a connecting rod assembly and a driving assembly, wherein the connecting rod assembly is respectively connected to the driving assembly and the carrying platform in a transmission manner, and the connecting rod assembly can control the expansion / contraction of the carrying platform on the main frame under the drive of the driving assembly;

[0014] In which, the connecting rod assembly includes a power rod, a first pull rod, a second pull rod and a third pull rod, one end of the power rod is transmission connected to the driving assembly; one end of the first pull rod and one end of the second pull rod are respectively hinged to the bearing platform, the other end of the first pull rod is hinged to the other end of the power rod, the second pull rod is staggered and hinged to the power rod, the other end of the second pull rod is hinged to one end of the third pull rod, and the other end of the third pull rod is hinged to the main frame.

[0015] It can be understood that the power rod can push the bearing platform by driving the first pull rod and the second pull rod under the drive of the drive assembly. On the one hand, this can enable the bearing platform to leave the main frame by a certain distance after being unfolded, playing a role in reducing the overall size of the bearing platform. On the other hand, it can also provide sufficient support for the unfolded bearing platform to meet the load-bearing requirements of the bearing platform for the parking platform where the unmanned aerial vehicle is parked.

[0016] In one embodiment, the hangar further includes an auxiliary telescopic member, which is respectively hinged to the power rod and the main frame, and is used to provide assistance for the rotation of the power rod; the auxiliary telescopic member is controlled by the drive assembly.

[0017] It can be understood that using an auxiliary telescopic member controlled by the drive assembly to provide assistance for the rotation of the power rod enables the auxiliary telescopic member to assist the rotation of the power rod according to the needs of the drive assembly, which can reduce the load required for the drive assembly to drive the power rod to rotate.

[0018] In one embodiment, the centering mechanism includes:

[0019] A sliding push rod group, which is arranged on the front side of the parking platform and is independently arranged relative to the parking platform. The sliding push rod group includes two push rods arranged oppositely;

[0020] A drive group, which is installed on the back side of the parking platform. The drive group includes a drive rack, a drive gear and an elastic member. The drive rack is slidably connected to the parking platform in the first direction and abuts against the elastic member. The drive gear is rotatably connected to the parking platform and meshes with the drive rack. Moreover, the drive gear is in transmission connection with the sliding push rod group and is used to control the two push rods in the sliding push rod group to move away from each other or move towards each other;

[0021] An abutting block, which is installed on the bearing platform. The abutting block is arranged on the moving path of the drive rack, and the abutting block can abut against and limit the drive rack so that the drive rack slides relative to the parking platform and compresses the elastic member;

[0022] Wherein, the centering mechanism has a first state and a second state. When the centering mechanism is in the first state, the two push rods in the sliding push rod group move towards each other under the drive of the elastic member to lock the unmanned aerial vehicle on the parking platform; when the centering mechanism is in the second state, the two push rods in the sliding push rod group move away from each other under the drive of the drive rack to release the unmanned aerial vehicle locked by the push rods.

[0023] It can be understood that by using the driving of the driving rack when the parking platform moves horizontally relative to the bearing platform, the control of the opposite or opposite movement of the two push rods in the sliding push rod group is finally realized, so that the alignment mechanism can complete the locking and releasing of the unmanned aerial vehicle on the parking platform through a pure mechanical structure. This not only simplifies the structure of the alignment mechanism and reduces the manufacturing cost, but also improves the reliability of the alignment mechanism when it is applied to work in the unmanned aerial vehicle nest.

[0024] In one embodiment, the alignment mechanism further includes a transmission group, and the transmission group is correspondingly arranged with the sliding push rod group;

[0025] Wherein, the transmission group includes a transmission gear and two transmission racks. The transmission gear is coaxially arranged with the driving gear and is circumferentially limited with the driving gear. The two transmission racks correspond to the two push rods in the corresponding sliding push rod group one by one, and the transmission rack is in transmission connection with the corresponding push rod and meshes with the transmission rack.

[0026] In one embodiment, the lifting drive mechanism includes a first rotary drive member, a drive shaft, and two lifting drive modules. The first rotary drive member is respectively in transmission connection with the two lifting drive modules through the drive shaft;

[0027] The two lifting drive modules correspond to the two parking garages one by one. The lifting drive module is arranged at the position of the corresponding parking garage and is used to carry the multiple parking platforms in the parking garage and drive the multiple parking platforms to rise or fall synchronously in the parking garage.

[0028] It can be understood that using one first rotary drive member to simultaneously control the lifting of the parking platforms in the two parking garages by the two lifting drive modules can ensure the consistency of the moving strokes when the parking platforms in the two parking garages are lifted, so that the stopping of each layer of parking platforms in the nest unit does not require secondary centering, which simplifies the supporting structure required for the lifting of the parking platforms in the nest unit and has the effect of reducing the manufacturing cost.

[0029] In one embodiment, the lifting drive module includes a transmission wheel and two transmission shafts. The two transmission shafts and the transmission wheel are arranged at both ends of the corresponding parking garage in the vertical direction;

[0030] The two transmission shafts are arranged on two opposite sides of the parking garage in the second direction and are respectively in transmission connection with the drive shaft. Wherein, the second direction is perpendicular to the first direction; a drive wheel is circumferentially limitedly connected to each transmission shaft, the drive wheel is correspondingly arranged with the transmission wheel, and the drive wheel and the corresponding transmission wheel are in transmission connection through a transmission member;

[0031] The plurality of conveying members cooperate with each other to carry the plurality of parking platforms in the parking hangar.

[0032] It can be understood that the transmission shaft is used to drive the rotation of the driving wheel to realize the transmission of the conveying member in the vertical direction, which can meet the use requirements of lifting and lowering multiple parking platforms in the parking hangar. In this process, multiple conveying members located on both sides of the second direction of the parking hangar are used to carry the parking platform, which can improve the stability of the lifting and lowering movement of the parking platform.

[0033] In one embodiment, the first traverse mechanism comprises:

[0034] A transverse driving assembly, comprising a second rotary driving member, a transverse speed reducer and two connecting shafts, wherein the two connecting shafts are coaxially arranged and are respectively connected to the second rotary driving member through the transverse speed reducer;

[0035] Two clamping assemblies, corresponding to the two connecting shafts one by one, the clamping assemblies comprising a module slide and a friction wheel group, the module slide is drivingly connected to the corresponding connecting shaft and connected to the friction wheel group, and is used to drive the friction wheel group to reciprocate relative to the parking platform in a second direction, wherein the second direction is perpendicular to the first direction;

[0036] The friction wheel group includes a friction wheel and a third rotating driving member, the third rotating driving member is connected to the friction wheel in transmission, the friction wheel can abut against the parking platform to limit in the second direction, and the friction wheel can drive the parking platform to move horizontally in the first direction under the drive of the third rotating driving member.

[0037] It can be understood that a second rotating drive component is used to control the clamping of the parking platform by the friction wheels on the two clamping components, and then a third rotating component is used to control the lateral movement of the clamped parking platform by the friction wheels. This can meet the use requirements of the first lateral movement mechanism to drive the parking platform laterally, and ensure the consistency of the two clamping components when driving the parking platform laterally in the first direction.

[0038] In one embodiment, the machine nest unit also includes two second transverse movement mechanisms, and the two second transverse movement mechanisms correspond one-to-one to the two parking hangars. The second transverse movement mechanisms are installed on the corresponding parking hangars, and the second transverse movement mechanisms are arranged at a position between the parking platform connected to the carrying platform and the carrying platform, so as to control the parking platform to enter and exit the carrying platform.

[0039] It can be understood that the second transverse movement mechanism is used to control the entry and exit of the parking platform on the carrying platform, which can meet the use requirements of taking off and landing drones on the opposite sides of each parking hangar in the drone nest.

[0040] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0041] For the drone nest claimed in the present application, a return mechanism is used to control the locking / unlocking of the drone on the parking platform, and then a lifting drive mechanism and a first transverse movement mechanism are used to realize the transfer of the parking platform between the two parking bays of the nest unit, so that the nest unit can achieve the coordinated scheduling of two drones. This not only improves the overall operation efficiency of the drone nest, but also reduces the site requirements during the on-site installation of the drone nest and the equipment manufacturing cost of the drone nest. Brief Description of the Drawings

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0043] Figure 1 It is a schematic structural diagram of the drone nest provided by the present application.

[0044] Figure 2 It is a schematic structural diagram when the bearing platform, link assembly and drive assembly are assembled in the present application.

[0045] Figure 3 It is a schematic structural diagram when the link assembly, drive assembly and gas spring are assembled in the present application.

[0046] Figure 4 It is a schematic structural diagram when the return mechanism is applied to the bearing platform and the parking platform in the present application.

[0047] Figure 5 It is Figure 4 the enlarged view of part A in

[0048] Figure 6 It is Figure 4 the enlarged view of part B in

[0049] Figure 7 It is a schematic structural diagram of the parking platform in the present application.

[0050] Figure 8 It is a schematic structural diagram when the return mechanism is applied to the bearing platform in the present application.

[0051] Figure 9 It is Figure 8 the enlarged view of part C in

[0052] Figure 10 Schematic structural diagram of the drive group applied to the parking platform in this application.

[0053] Figure 11 Schematic structural diagram of the lifting drive mechanism and the first transverse movement mechanism when assembled on the main body of the aircraft nest.

[0054] Figure 12 Partial structural schematic diagram of the lifting drive module in this application.

[0055] Figure 13 Schematic structural diagram of the lifting guide rail, roller, needle bearing and clamping member when assembled.

[0056] Figure 14 Schematic structural diagram of the first transverse movement mechanism in this application.

[0057] Figure 15 Schematic structural diagram of the first transverse movement mechanism from another perspective in this application.

[0058] Reference numerals: 100, UAV aircraft nest; 10, main body of the aircraft nest; 110, parking garage; 111, parking platform; 1111, slide bar; 1112, fixed seat; 1113, chute; 11, main body frame; 1101, lifting track; 12, bearing platform; 121, first roller; 1211, support plate; 122, fixed mounting seat; 13, connecting rod assembly; 131, power rod; 132, first pull rod; 133, second pull rod; 134, third pull rod; 14, drive assembly; 141, rotary drive member; 142, first reducer; 143, drive link; 1431, bearing seat; 15, auxiliary telescopic member;

[0059] 20, alignment mechanism; 21, sliding push rod group; 211, push rod; 212, push rod support; 2121, bending plate; 22, drive group; 221, drive rack; 2211, rack slider; 2212, push wheel; 222, drive gear; 223, elastic member; 23, collision block; 24, transmission group; 241, transmission gear; 242, transmission rack; 243, synchronous shaft; 244, rack fixing block;

[0060] 30, lifting drive mechanism; 301, parallel shaft reducer; 302, second reducer; 31, first rotary drive member; 32, drive shaft; 33, lifting drive module; 331, transmission shaft; 332, transmission wheel; 333, drive wheel; 334, transmission member; 3341, first transmission group; 3342, second transmission group; 335, lifting guide rail; 3351, clamping member; 33511, card slot; 336, second roller; 337, needle bearing;

[0061] 40. First transverse movement mechanism; 41. Transverse movement drive assembly; 411. Second rotation drive member; 412. Transverse movement speed reducer; 413. Connecting shaft; 42. Clamping assembly; 421. Module slide table; 422. Friction wheel set; 4221. Friction wheel; 4222. Third rotation drive member; 4223. Mounting frame; 4224. Synchronous belt; 4225. Synchronous belt pulley;

[0062] 50. Second transverse movement mechanism. Detailed implementation manners

[0063] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0064] It should be noted that when an element is referred to as being "provided on" another element, it can be directly provided on the other element or there may also be an intermediate element. When an element is considered to be "provided on" another element, it can be directly provided on the other element or there may be an intermediate element at the same time. When an element is considered to be "fixed to" another element, it can be directly fixed to the other element or there may be an intermediate element at the same time.

[0065] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which this invention belongs. The terms used in the description of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0066] Such as Figure 1As shown in the figure, the drone nest 100 provided by the present application includes a nest unit, and the nest unit includes a nest body 10, a return mechanism 20, a lifting drive mechanism 30, and a first lateral movement mechanism 40. The nest body 10 includes two hangars 110, and the two hangars 110 are arranged in parallel along the first direction X. Among them, each hangar 110 includes a bearing platform 12 and a plurality of parking platforms 111, and the bearing platform 12 can be selectively communicated with the plurality of parking platforms 111; and, the parking platform 111 communicated with the bearing platform 12 can move relative to the bearing platform 12, so that a drone (not shown in the figure) can take off and land on the parking platform 111 located on the bearing platform 12; the return mechanism 20 is correspondingly arranged with the parking platform 111, and at least part of the return mechanism 20 is installed on the corresponding parking platform 111 for controlling the locking / unlocking of the drone on the parking platform 111; the lifting drive mechanism 30 is installed on the nest body 10 for driving the parking platforms 111 in the two hangars 110 to lift, and, the movement directions of the parking platforms 111 in the two hangars 110 are set in opposite directions; the first lateral movement mechanism 40 is installed between the two hangars 110 for clamping and driving the parking platform 111 to move in the first direction X, so that the parking platform 111 can flow between the two hangars 110. Here, the number of nest units is configured to be one, that is, the drone nest 100 is assembled by two hangars 110, so that the drone nest is a multi-layer structure, and two drones can be stored on each layer. It should be noted that for those skilled in the art, the number of nest units in the drone nest 100 can also be two, three, or even more, which can be specifically set according to the usage requirements and will not be elaborated here.

[0067] As can be seen from the above, in the drone nest 100 of the present application, the return mechanism 20 is used to control the locking / unlocking of the drone on the parking platform 111, and then the lifting drive mechanism 30 and the first lateral movement mechanism 40 are used to realize the flow of the parking platform 111 between the two hangars 110 of the nest unit, so that the nest unit can realize the cooperative scheduling of two drones. This not only improves the overall operation efficiency of the drone nest 100, but also reduces the site requirements during the on-site installation of the drone nest 100 and reduces the equipment manufacturing cost of the drone nest 100.

[0068] As Figure 1As shown, in one embodiment, two loading platforms 12 in the drone nest unit are arranged at the diagonal positions on the opposite sides of the drone nest main body in the first direction, so that the drone nest unit can simultaneously realize the takeoff and landing operations of two drones without interference from each other, thereby improving the overall operation efficiency of the drone nest 100. Here, the two loading platforms 12 are arranged at the diagonal positions on the opposite sides of the drone nest main body in the first direction, specifically referring to that the two loading platforms 12 are arranged on both sides of the drone nest main body in the first direction, and the two loading platforms 12 are arranged at both ends of the drone nest main body 10 in the vertical direction. That is, one of the loading platforms 12 is communicated with the landing platform 111 at the top position of the corresponding hangar 110, and the other loading platform 12 is communicated with the landing platform 111 at the bottom position of the corresponding hangar 110. The moving directions of the two first transverse movement mechanisms 40 are arranged in opposite directions, and the lifting directions of the landing platforms 111 in the two hangars 110 are arranged in opposite directions, so that the landing platform 111 can circulate between the two hangars 110.

[0069] As Figure 2 shown, in one embodiment, at least three first rollers 121 are rotatably connected to the loading platform 12, and the loading platform 12 can carry the landing platform 111 through at least three first rollers 121; among them, two of the at least three first rollers 121 are arranged at the two end positions of the loading platform 12 in the first direction. The loading platform 12 can carry the landing platform 111 through the first rollers 121. By using the structural characteristics of the first rollers 121, the friction formed between the landing platform 111 and the loading platform 12 when the landing platform 111 moves in the first direction X is rolling friction, which can reduce the frictional resistance suffered by the landing platform 111 when moving on the loading platform 12, so as to facilitate the movement of the landing platform 111 relative to the loading platform 12. Here, the number of the first rollers 121 is configured to be four, and the four first rollers 121 are installed on the loading platform 12 through the support plate 1211, that is, the support plate 1211 and the four first rollers 121 form a whole for easy assembly on the loading platform 12. It can be understood that in other embodiments, the number of the first rollers 121 can also be five, six, seven, or even more, which will not be elaborated here.

[0070] As Figures 1 to 3As shown, in one embodiment, the hangar 110 also includes a main frame 11, a connecting rod assembly 13 and a driving assembly 14, the connecting rod assembly 13 is respectively connected to the driving assembly 14 and the carrying platform 12, and the connecting rod assembly 13 can control the expansion / contraction of the carrying platform 12 on the main frame 11 under the drive of the driving assembly 14. In other words, the hangar 110 can form a carrying platform 12 for drone takeoff operations in a movable manner, so that the carrying platform 12 can be retracted to the main frame 11 of the hangar 110 when not in use, and can be used as a part of the casing of the hangar 110, which can save space and improve the flexibility of the use of the carrying platform 12. Here, the carrying platform 12 can be assembled using aluminum profile angle brackets of different lengths.

[0071] like Figure 2 , Figure 3 As shown, in this embodiment, the connecting rod assembly 13 includes a power rod 131 and a first pull rod 132, one end of the power rod 131 is transmission-connected to the driving assembly 14, and the other end of the power rod 131 is hinged to one end of the first pull rod 132; the other end of the first pull rod 132 is hinged to the carrying platform 12. The power rod 131 can realize the rotation control of the carrying platform 12 through the first pull rod 132 under the drive of the driving assembly 14. Here, the first pull rod 132 can be hinged to the carrying platform 12 through the fixed mounting seat 122.

[0072] like Figure 2 , Figure 3 As shown, in this embodiment, the connecting rod assembly 13 also includes a second tie rod 133 and a third tie rod 134, and the second tie rod 133 is staggered and hinged with the power rod 131, wherein one end of the second tie rod 133 is hinged to the load-bearing platform 12, and the other end of the second tie rod 133 is hinged to one end of the third tie rod 134; the other end of the third tie rod 134 is hinged to the main frame 11. In other words, when the connecting rod assembly 13 of this embodiment is in motion, a power rod 131 can control the movement of the load-bearing platform 12 through the first tie rod 132 and the second tie rod 133, so that on the one hand, the load-bearing platform 12 can be moved away from the main frame 11 by a certain distance after being unfolded, thereby reducing the overall size of the load-bearing platform 12, and on the other hand, sufficient support can be provided to the unfolded load-bearing platform 12 to meet the load-bearing requirement of the load-bearing platform 12 on the parking platform 111 where the drone is parked. Here, the second tie rod 133 can also be hinged to the bearing platform 12 through the fixed mounting seat 122, wherein the hinge node between the second tie rod 133 and the power rod 131 is set at the middle position of the second tie rod 133 and the power rod 131. It can be understood that in other embodiments, the hinge node between the second tie rod 133 and the power rod 131 can also be set at other positions of the second tie rod 133 and the power rod 131, which will not be elaborated here.

[0073] As Figure 2 , Figure 3 shown, in this embodiment, the driving assembly 14 includes a rotary driving member 141, a first speed reducer 142, and two driving link rods 143. The two driving link rods 143 are disposed on both sides of the first speed reducer 142 in the second direction, and the two driving link rods 143 are respectively in transmission connection with the rotary driving member 141 through the first speed reducer 142; the two driving link rods 143 correspond to the two sets of link assemblies 13 one by one, and one end of the driving link rod 143 away from the first speed reducer 142 is in transmission connection with the corresponding link assembly 13. That is to say, the driving assembly 14 in this embodiment can synchronously drive the two sets of link assemblies 13 with one rotary driving member 141. Here, the rotary driving member 141 is configured as a motor, and one end of the two driving link rods 143 in transmission connection with the corresponding two sets of link assemblies 13 can be rotatably mounted to the main frame 11 through a bearing seat 1431, so as to realize the assembly of the driving assembly 14 on the main frame 11. It can be understood that in other embodiments, the rotary driving member 141 can also be configured as a rotary cylinder, or other mechanical structures capable of providing rotary driving force, which will not be elaborated here.

[0074] As Figure 1 , Figure 3 shown, in an embodiment, the hangar 110 further includes an assisting telescopic member 15. The assisting telescopic member 15 is respectively hinged to the power rod 131 and the main frame 11, and is used to provide assistance for the rotation of the power rod 131; the assisting telescopic member 15 is controlled by the driving assembly 14. That is to say, in this embodiment, the assisting telescopic member 15 can assist the rotation of the power rod 131 according to the needs of the driving assembly 14, so as to reduce the load required for the driving assembly 14 to drive the power rod 131 to rotate. Here, the hinge node when the assisting telescopic member 15 is hinged to the power rod 131 is set at a position between the two hinge nodes when the power rod 131 is respectively hinged to the first pull rod 132 and the second pull rod 133.

[0075] Specifically, the assisting telescopic member 15 can adopt a telescopic member such as a gas spring that passively outputs power, or a cylinder that actively outputs power. The rotary driving member 141 in the driving assembly 14 can control the output power of the assisting telescopic member 15, so that the assisting telescopic member 15 cooperates with the driving assembly 14 to accurately complete the deployment of the carrying platform 12 to the horizontal to form an entrance and exit (not shown in the figure) for the takeoff and landing operation of the unmanned aerial vehicle, or to contract onto the main frame 11 of the hangar 110 to serve as part of the casing of the hangar 110. For example, the assisting telescopic member 15 adopts an electric push rod, and the rotary driving member 141 adopts a motor to directly control the action of the electric push rod.

[0076] As Figure 2 , Figure 3As shown, in this embodiment, the number of the link assemblies 13 is configured to be two groups, and the two groups of link assemblies 13 are arranged on both sides of the bearing platform 12 along the second direction Y; the driving assemblies 14 are respectively in transmission connection with the two groups of link assemblies 13. That is to say, in this embodiment of the hangar 110, one driving assembly 14 is used to simultaneously control the movement of the two groups of link assemblies 13 for the bearing platform 12, which can not only ensure the consistency of the actions of the two groups of link assemblies 13, but also improve the stability of the movement of the bearing platform 12. Here, the number of the auxiliary telescopic members 15 is also two, and each auxiliary telescopic member 15 corresponds to one of the two groups of link assemblies 13, and the auxiliary telescopic member 15 is hinged to the power rod 131 in the corresponding link assembly 13.

[0077] As Figure 4 , Figure 5 , Figure 8 and Figure 9 shown, in an embodiment, the alignment mechanism 20 includes a collision block 23, a sliding push rod group 21 and a driving group 22. The collision block 23 is located on the bearing platform 12; the sliding push rod group 21 is located on the front side of the parking platform 111 and is independently arranged relative to the parking platform 111. The sliding push rod group 21 includes two push rods 211 arranged oppositely; the driving group 22 is located on the back side of the parking platform 111 and can move along with the parking platform 111; the driving group 22 can be in limit cooperation with the collision block 23 within a first stroke range to jointly control the relative movement of the two push rods 211 in the sliding push rod group 21, so that when the driving group 22 moves towards the collision block 23, the two push rods 211 are driven to move away from each other to a first position; and when the driving group 22 moves away from the collision block 23, the two push rods 211 are driven to move towards each other to a second position. Here, when the two push rods 211 move away from each other to the first position, the space between the two push rods 211 can be used for the takeoff or landing of the unmanned aerial vehicle on the parking platform 111; when the two push rods 211 move towards each other to the second position, the two push rods 211 can align and lock the unmanned aerial vehicle on the parking platform 111. It should be noted that the front side of the above-mentioned parking platform 111 is the side where the parking platform 111 bears the unmanned aerial vehicle, and the back side of the parking platform 111 is the side where the parking platform 111 faces the bearing platform 12.

[0078] As can be seen from the above, the return mechanism 20 of this embodiment utilizes the limit cooperation between the collision block 23 on the bearing platform 12 and the driving group 22 on the stop platform 111 within the first stroke range to realize the return of the stop platform 111 while moving in the first direction away from the bearing platform 12, and the reset while moving in the direction close to the bearing platform 12, that is, the direction opposite to the first direction; then when the stop platform 111 moves onto the bearing platform 12, the two push rods 211 are already in the first position where they are away from each other, and the UAV can be immediately taken off or landed. When the stop platform 111 starts to leave the bearing platform 12, the two push rods 211 start to approach each other until they reach the second position to return and fix the UAV; that is, the return and fixation or the release of fixation do not take extra time and are synchronized with the movement of the stop platform 111, thereby shortening the operation time and improving the usage efficiency. And this application realizes the synchronous return or reset action only by the relative movement and mechanical limit between the collision block 23 and the driving group 22, with a simple structure, high reliability and low cost.

[0079] It can be understood that the first stroke range is the stroke range in which the driving group 22 and the collision block 23 have limit cooperation. When the driving group 22 and the collision block 23 approach each other until they cannot move, that is, they reach the starting end of the first stroke, at this time the stop platform 111 stops on the bearing platform 12; when the driving group 22 and the collision block 23 move away from the starting end of the first stroke to the first stroke distance, that is, they reach the ending end of the first stroke, at this time the distance of the stop platform 111 from the position where it stops on the bearing platform 12 is the first stroke distance; after that, if the stop platform 111 continues to move away, that is, it exceeds the first stroke range, it will no longer be restricted by the interference of the collision block 23. At the starting end of the first stroke, the two push rods 211 are in the first position where they are away from each other, and at the ending end of the first stroke, the two push rods 211 are in the second position where they are close to each other. If the stop platform 111 continues to move away, due to the lack of the interference of the collision block 23, the two push rods 211 will always be in the second position.

[0080] Such as Figure 4 、 Figure 5 、 Figure 8 and Figure 9As shown, in one embodiment, the driving group 22 includes a driving rack 221, a driving gear 222 and an elastic member 223, the driving rack 221 is slidably connected to the parking platform 111 in the first direction X and abuts against the elastic member 223, the driving gear 222 is rotatably connected to the parking platform 111 and meshes with the driving rack 221, and the driving gear 222 is transmission-connected with the sliding push rod group 21, and is used to control the two push rods 211 in the sliding push rod group 21 to move away from each other or move towards each other. Correspondingly, the collision block 23 is arranged on the moving path of the driving rack 221, and the collision block 23 can be abutted and limited with the driving rack 221, the elastic member 223 is located at one end of the driving rack 221 away from the collision block 23, and the collision block 23 and the elastic member 223 drive the driving rack 221 to slide in both directions relative to the parking platform 111.

[0081] It can be understood that the driving rack 221 is driven by the parking platform 111 when it moves relative to the bearing platform 12, so as to finally realize the control of the two push rods 211 in the push sliding push rod group 21 to move toward or away from each other, so that the return mechanism 20 is applied to the drone nest 100, and the locking and releasing of the drone on the parking platform 111 can be completed by a pure mechanical structure, which not only simplifies the structure of the return mechanism 20 and reduces the manufacturing cost, but also improves the reliability of the return mechanism 20 when it is applied to the drone nest 100. Among them, the elastic member 223 and the collision block 23 are respectively arranged on both sides of the driving rack 221, so that the sliding of the driving rack 221 can be automatically driven from two directions, thereby controlling the bidirectional rotation of the driving gear 222, and realizing the bidirectional movement of the two push rods 211. The sliding stroke of the driving rack 221 must cover the first stroke range, so that the two push rods 211 can move toward each other to the second position and move away from each other to the first position.

[0082] It should be noted that when the parking platform 111 moves from the main frame 11 to the loading platform 12 along the first direction X, the parking platform 111 will drive the driving rack 221 to collide with the collision block 23 on the loading platform 12. Since the collision block 23 is fixed to the loading platform 12 and remains stationary, using the action and reaction forces, the collision block 23 will push the driving rack 221 to slide on the parking platform 111 in the reverse direction, driving the driving gear 222 to rotate on the parking platform 111, and then using the driving gear 222 to control the two push rods 211 in the sliding push rod group 21 to move away from each other to release the locking of the two push rods 211 on the unmanned aerial vehicle on the parking platform 111. During this process, the driving rack 221 compresses the elastic member 223 and stores energy in the elastic member 223. When the parking platform 111 on the loading platform 12 moves back into the main frame 11, with the movement of the parking platform 111, the driving rack 221 on the parking platform 111 will gradually disengage from the collision block 23 and release the limit on the elastic member 223 by the driving rack 221. In this way, the driving rack 221 can slide in the reverse direction on the parking platform 111 under the push of the elastic member 223 to realize the reverse rotation of the driving gear 222 on the parking platform 111, and then use the driving gear 222 to control the two push rods 211 in the sliding push rod group 21 to move towards each other, and use the two push rods 211 to lock the unmanned aerial vehicle on the parking platform 111.

[0083] As Figure 7 shown, in one embodiment, the two push rods 211 in the sliding push rod group 21 are arranged at the same height position on the parking platform 111. In this way, when the two push rods 211 move towards each other, they can clamp and fix the parts of the same height on the landing gear of the unmanned aerial vehicle, so as to realize the locking of the unmanned aerial vehicle on the parking platform 111.

[0084] As Figure 6 、 Figure 7 shown, in this embodiment, the number of the sliding push rod groups 21 is configured as multiple groups, and the multiple groups of sliding push rod groups 21 are arranged in a staggered manner in the vertical direction, so that the movement of the push rods 211 in the multiple groups of sliding push rod groups 21 does not interfere with each other. Here, the number of the sliding push rod groups 21 is configured as two groups, and the four push rods 211 in the two groups of sliding push rod groups 21 are in a square shape. In this way, when the two groups of sliding push rod groups 21 lock the unmanned aerial vehicle on the parking platform 111, they can realize the alignment of the position of the unmanned aerial vehicle on the parking platform 111 and ensure the accuracy of the position when the unmanned aerial vehicle docks on the parking platform 111, so as to meet the use requirements of the parking platform 111 carrying the unmanned aerial vehicle to flow between the two parking garages 110. It can be understood that in other embodiments, the number of the sliding push rod groups 21 can also be three groups, four groups, or even more groups. Correspondingly, the six push rods 211 in the three groups of sliding push rod groups 21 enclose a hexagonal structure, and the eight push rods 211 in the four groups of sliding push rod groups 21 enclose an octagonal structure, which will not be elaborated here.

[0085] As Figure 5 , Figure 9 and Figure 10 shown, in one embodiment, a rack slider 2211 is connected to the driving rack 221. The rack slider 2211 is disposed on a side of the driving rack 221 away from the driving gear 222, and the driving rack 221 is slidably connected to the sliding rod 1111 on the shutdown platform 111 through the rack slider 2211. Moreover, an elastic member 223 is sleeved on the sliding rod 1111, and the driving rack 221 can abut against the elastic member 223 through the rack slider 2211. That is to say, on the one hand, the rack slider 2211 on the driving rack 221 can guide the movement of the driving rack 221 on the shutdown platform 111, and on the other hand, it can also realize the force transmission between the driving rack 221 and the elastic member 223, so that the rack slider 2211 can serve two purposes and play a role in simplifying the structure. Here, the rack slider 2211 is vertically disposed on the driving rack 221 and is integrally connected to the driving rack 221. It should be noted that the other end of the elastic member 223 away from the rack slider 2211 abuts against the fixed seat 1112 of the shutdown platform 111. Among them, the two ends of the sliding rod 1111 can be respectively installed on the carrying platform 12 through the fixed seat 1112.

[0086] As Figure 10 shown, in this embodiment, the number of the rack sliders 2211 is configured to be two, and the number of the sliding rods 1111 is configured to be two. The two rack sliders 2211 are respectively slidably connected to the two sliding rods 1111, so that a redundant design can be carried out for the sliding of the driving rack 221 on the shutdown platform 111 to ensure the stability of the sliding of the driving rack 221 on the shutdown platform 111.

[0087] As Figure 5 , Figure 10 shown, in this embodiment, the number of the elastic members 223 is also two. The two elastic members 223 correspond to the two sliding rods 1111 one by one, and the elastic members 223 are sleeved on the corresponding sliding rods 1111, so that the two elastic members 223 can provide sufficient elastic force for the movement of the driving rack 221. Here, the elastic member 223 is configured as a spring. It can be understood that in other embodiments, the elastic member 223 can also be configured as a rubber sleeve or other fittings that can provide high elasticity, which will not be elaborated here.

[0088] As Figure 5 , Figures 8 to 10As shown, in one embodiment, a push wheel 2212 is rotatably connected to a side surface of the driving rack 221 facing away from the stop platform 111, and the driving rack 221 can abut against the collision block 23 through the push wheel 2212, so that the driving rack 221 is in contact with and limited by the collision block 23. That is to say, when the driving rack 221 of this embodiment moves in the first direction, there is a positional interference between the push wheel 2212 on the driving rack 221 and the collision block 23 on the bearing platform 12, and the use requirement of the driving rack 221 being in contact with and limited by the collision block 23 is satisfied.

[0089] As Figure 5 , Figure 8 shown, in one embodiment, the return mechanism 20 further includes a transmission group 24, and the transmission group 24 is correspondingly arranged with the sliding push rod group 21; wherein, the transmission group 24 includes a transmission gear 241 and two transmission racks 242, the transmission gear 241 is coaxially arranged with the driving gear 222 and circumferentially limited with the driving gear 222, the two transmission racks 242 correspond to the two push rods 211 in the corresponding sliding push rod group 21 one by one, and the transmission rack 242 is in transmission connection with the corresponding push rod 211 and meshes with the transmission rack 242. That is to say, in the return mechanism 20 of this embodiment, when the driving gear 222 rotates, the transmission gear 241 can be rotated, and the sliding of the corresponding push rod 211 on the stop platform 111 is realized by using the meshing cooperation between the transmission gear 241 and the transmission rack 242.

[0090] As Figure 7 , Figure 9 shown, in this embodiment, the transmission rack 242 is connected to the corresponding push rod 211 through a push rod bracket 212; wherein, the push rod bracket 212 penetrates through the stop platform 111. Here, a chute 1113 for the push rod bracket 212 to pass through is opened on the stop platform 111, and the push rod bracket 212 can penetrate through the stop platform 111 through the chute 1113, so that the transmission rack 242 can drive the corresponding push rod 211 to slide along the extension direction of the chute 1113 through the push rod bracket 212. It should be noted that the push rod bracket 212 of the present application has two bending plates 2121, and the push rod bracket 212 can carry the corresponding push rod 211 through the two bending plates 2121.

[0091] As Figure 8 , Figure 9 shown, in this embodiment, the transmission gear 241 is arranged on the side of the driving gear 222 facing the stop platform 111, and the transmission gear 241 is in transmission connection with the driving gear 222 through a synchronous shaft 243. So that the driving gear 222 can drive the transmission gear 241 to rotate synchronously through the synchronous shaft 243. Here, the synchronous shaft 243 is circumferentially limited with the transmission gear 241 and the driving gear 222 respectively in a keyway fit manner.

[0092] As Figure 5 shown, in this embodiment, the transmission group 24 further includes a rack fixing block 244 which is mounted on the parking platform 111; and, the rack fixing block 244 is arranged corresponding to the transmission rack 242, and the rack fixing block 244 is slidably connected to the corresponding transmission rack 242 for limiting the transmission rack 242 to the transmission gear 241 and enabling the transmission rack 242 and the transmission gear 241 to be in meshing engagement. That is to say, the transmission group 24 in this embodiment can use the rack fixing block 244 to constrain the movement of the transmission rack 242 to ensure the meshing engagement between the transmission rack 242 and the transmission gear 241, so as to improve the stability of the driving gear 222 in controlling the movement of the two push rods 211 in the sliding push rod group 21.

[0093] As Figure 11 、 Figure 12 shown, in an embodiment, the lifting drive mechanism 30 includes a first rotary drive member 31, a drive shaft 32 and two lifting drive modules 33. The first rotary drive member 31 is in transmission connection with the two lifting drive modules 33 respectively through the drive shaft 32. The two lifting drive modules 33 correspond to the two parking garages 110 one by one, and the lifting drive module 33 is arranged at the position of the corresponding parking garage 110 for carrying a plurality of parking platforms 111 in the parking garage 110 and driving the plurality of parking platforms 111 to rise or fall synchronously in the parking garage 110. That is to say, the lifting drive mechanism 30 in this embodiment uses one first rotary drive member 31 to simultaneously control the lifting of the parking platforms 111 in the two parking garages 110 by the two lifting drive modules 33, so as to ensure the consistency of the moving strokes when the parking platforms 111 in the two parking garages 110 are lifted, so that the stopping of each layer of the parking platforms 111 in the aircraft nest unit does not require secondary centering, which simplifies the supporting structure required for the lifting of the parking platforms 111 in the aircraft nest unit and has the effect of reducing the manufacturing cost.

[0094] As Figure 12As shown, in one embodiment, the first rotary drive member 31 is connected to the drive shaft 32 by a parallel shaft reducer 301, so that when the first rotary drive member 31 is started, the parallel shaft reducer 301 can be used to realize the rotation drive of the drive shaft 32. Here, the drive shaft 32 extends along the second direction Y, and the drive shaft 32 runs through the parallel shaft reducer 301, then the output shaft of the first rotary drive member 31 arranged in parallel also extends along the second direction Y, so that no additional space in the first direction X is occupied, thereby compactly arranging multiple parking hangars 110 to reduce the overall volume. Of course, in other embodiments, other types of reducers can also be used. Here, the first rotary drive member 31 is configured as a motor. It can be understood that in other embodiments, the above-mentioned first rotary drive member 31 can also be configured as a rotary cylinder or other mechanical transmission structure that can provide rotary power, which will not be elaborated here.

[0095] like Figure 12 As shown, in one embodiment, the lifting drive module 33 includes a transmission wheel 332 and at least two transmission shafts 331, and the at least two transmission shafts 331 and the transmission wheel 332 are arranged at both ends of the corresponding parking hangar 110 in the vertical direction; at least two transmission shafts 331 are arranged on two opposite sides of the parking hangar 110 in the second direction Y, and are respectively connected to the driving shaft 32 in transmission connection; each transmission shaft 331 is connected to a driving wheel 333 in a circumferentially limited manner, and the driving wheel 333 is correspondingly arranged to the transmission wheel 332, and the driving wheel 333 is connected to the corresponding transmission wheel 332 in transmission connection through a transmission member 334; and a plurality of transmission members 334 cooperate with each other to carry a plurality of parking platforms 111 in the parking hangar 110. That is to say, when the lifting drive module 33 is working, the transmission shaft 331 is used to drive the rotation of the driving wheel 333 to realize the transmission of the conveying member 334 in the vertical direction, and the conveying member 334 is used to drive the multiple parking platforms 111 in the parking hangar 110 to rise or fall synchronously; in this process, multiple conveying members 334 located on both sides of the second direction Y of the parking hangar 110 are used to carry the parking platform 111, which can improve the stability of the lifting movement of the parking platform 111. Here, the number of transmission shafts 331 is configured as two. It can be understood that in other embodiments, the number of transmission shafts 331 can also be configured as three, four, or even more, which will not be elaborated here.

[0096] It should be noted that the driving wheel 333, the transmission wheel 332 and the transmission member 334 together constitute a transmission assembly for transmitting the parking platform 111 in the vertical direction. In the present application, the transmission assembly can be a sprocket chain assembly. It can be understood that in other embodiments, the transmission assembly can also be a synchronous belt assembly, which will not be elaborated here.

[0097] likeFigure 12 As shown, in this embodiment, two drive shafts 331 correspond to the two ends (not shown in the figure) of the drive shaft 32 one by one, and the corresponding ends between the drive shaft 331 and the drive shaft 32 are drivingly connected through a second speed reducer 302. That is to say, when the lifting drive mechanism 30 of this embodiment works, the first rotary drive member 31 can simultaneously drive the four drive shafts 331 to rotate through the drive shaft 32.

[0098] As Figure 12 shown, in this embodiment, the drive shaft 331 extends along the first direction X, and two drive wheels 333 are respectively connected to each drive shaft 331, so that the lifting drive module 33 can use four transmission members 334 to carry the parking platform 111 to provide the stability of the movement of the parking platform 111 during lifting. It can be understood that the number of drive wheels 333 connected to each drive shaft 331 can also be three, four, or even more, which will not be elaborated here.

[0099] As Figure 11 shown, in this embodiment, multiple transmission members 334 in each lifting drive module 33 are combined to form a first transmission group 3341 and a second transmission group 3342; two lifting guide rails 335 at the same height position on the two inner sides of the first transmission group 3341 and the second transmission group 3342 cooperate with each other to carry the parking platform 111. That is to say, the lifting drive module 33 can use two lifting guide rails 335 on both sides of the parking platform 111 in the second direction Y to carry the parking platform 111, so as to improve the stability of the lifting movement of the parking platform 111.

[0100] As Figure 13 shown, in an embodiment, at least a plurality of second rollers 336 are rotatably connected to the lifting guide rail 335, and the lifting guide rail 335 can carry the parking platform 111 through at least three second rollers 336; among them, two of the at least three second rollers 336 are arranged at the two end positions of the lifting guide rail 335 in the first direction X. So that the friction formed between the parking platform 111 and the lifting guide rail 335 when moving in the first direction X is rolling friction, which can reduce the frictional resistance suffered by the parking platform 111 when moving on the lifting guide rail 335, so as to facilitate the movement drive of the first lateral movement mechanism 40 on the parking platform 111. Here, the number of the second rollers 336 is configured to be five, and the five second rollers 336 can be arranged on the lifting guide rail 335 at equal intervals. It can be understood that in other embodiments, the number of the second rollers 336 can also be four, six, seven, or even more, which will not be elaborated here.

[0101] As Figure 13As shown, in this embodiment, a clamping member 3351 is connected to a side surface of the lifting guide rail 335 facing away from the second roller 336. The conveying member 334 passes through the clamping member 3351 and is connected to the clamping member 3351, thereby realizing the assembly connection between the conveying member 334 and the lifting guide rail 335. Here, when the conveying member 334 is configured as a chain, one link of the chain is clamped into the card slot 33511 of the clamping member 3351, and then the two pins at the two ends of the link are used to connect and fix the clamping member 3351; correspondingly, the clamping member 3351 is fixed to the lifting guide rail 335 by welding.

[0102] As Figure 11 As shown, in an embodiment, the main frame 11 of the hangar 110 includes a lifting track 1101. The lifting track 1101 is correspondingly arranged with the lifting guide rail 335, and the lifting guide rail 335 is slidably connected to the corresponding lifting track 1101, thereby guiding the lifting movement of the lifting guide rail 335 in the main frame 11, which can further improve the stability of the lifting movement of the parking platform 111 in the hangar 110. Here, a lifting track 1101 is correspondingly arranged at both ends of the lifting guide rail 335. Among them, a needle roller bearing 337 is connected to the end position of the lifting guide rail 335, and the lifting guide rail can be slidably connected to the corresponding lifting track 1101 by the needle roller bearing 337.

[0103] As Figure 11 As shown, in an embodiment, lifting guide rails 335 are respectively connected to the outer sides of the first conveying group 3341 and the second conveying group 3342, and the lifting guide rails 335 on the inner and outer sides of the first conveying group 3341 and the second conveying group 3342 operate alternately in a cycle. Since the conveying member 334 in the first conveying group 3341 and the second conveying group 3342 is in a ring shape, the movement directions of the lifting guide rails 335 on the two outer sides of the first conveying group 3341 and the second conveying group 3342 can be opposite, and the parking platform 111 can be alternately carried. That is, the first rotation driving member 31 in the lifting driving mechanism 30 can always rotate in one direction. In this way, the use requirements for the transfer between the parking platforms 111 in different hangars 110 in the UAV nest 100 can be met. It should be noted that the number of the lifting guide rails 335 on the two outer sides of the first conveying group 3341 and the second conveying group 3342 is respectively equal to the number of the parking platforms 111 in the hangar 110.

[0104] As Figure 11As shown, in this embodiment, the driving wheel 333 and the transmission wheel 332 are arranged on the outside of the lifting track 1101, so that the setting of the lifting track 1101 will not affect the exchange of the lifting guide rails 335 located on the inner and outer sides of the conveying member 334, and the lifting guide rails 335 located on the inner and outer sides of the conveying member 334 can be smoothly exchanged through the driving wheel 333 or the transmission wheel 332.

[0105] like Figure 1 As shown, in the present application, the number of the first transverse movement mechanisms 40 in the machine nest unit is configured as two, and the two first transverse movement mechanisms 40 are arranged at the two end positions of the machine nest body in the vertical direction, so that the parking platforms 111 in the two parking hangars 110 in the machine nest unit can circulate in a circular manner to meet the diagonal positions on the opposite sides of the machine nest body for the two drones to take off and land.

[0106] like Figure 14 , Figure 15 As shown, in one embodiment, the first transverse movement mechanism 40 includes a transverse movement drive component 41 and two clamping components 42. The transverse movement drive component 41 includes a second rotary drive component 411, a transverse movement reducer 412 and two connecting shafts 413. The two connecting shafts 413 are coaxially arranged and are respectively connected to the second rotary drive component 411 through the transverse movement reducer 412; the two clamping components 42 correspond one by one to the two connecting shafts 413. The clamping components 42 include a module slide 421 and a friction wheel group 422. The module slide 421 is connected to the corresponding connecting shaft 413 and is connected to the friction wheel group 422, so as to drive the friction wheel group 422 to reciprocate in the second direction Y relative to the parking platform 111. That is to say, the first transverse movement mechanism 40 of this embodiment can realize the control of the two clamping assemblies 42 to move toward or away from each other with a second rotary drive member 411, and achieve the purpose of locking the parking platform 111 or unlocking the parking platform 111, so as to ensure the consistency of the movement of the two clamping assemblies 42. Here, the second rotary drive member 411 is configured as a motor, and the two module slides 421 are fixedly installed in the machine nest body 10. It can be understood that in other embodiments, the second rotary drive member 411 can also be a rotary cylinder, or other mechanical transmission structure that can provide a rotary driving force, which will not be elaborated here.

[0107] like Figure 15As shown, in this embodiment, the friction wheel group 422 includes a friction wheel 4221 and a third rotating driving member 4222. The friction wheel 4221 can abut against the parking platform 111 in the second direction Y to limit the position, and the friction wheel 4221 can drive the parking platform 111 to move in the first direction X under the drive of the third rotating driving member 4222. That is, the friction wheel group 422 of this embodiment uses the friction wheel 4221 to clamp the parking platform 111, and uses the rotation of the friction wheel 4221 driven by the third rotating driving member 4222, and the static friction between the friction wheel 4221 and the clamped parking platform 111 to finally realize the movement drive of the parking platform 111 in the first direction X. Here, the third rotating driving member 4222 is configured as a motor. It can be understood that in other embodiments, the second rotating driving member 411 can also be a rotating cylinder, or other mechanical transmission structure that can provide a rotating driving force, which will not be elaborated here.

[0108] like Figure 15 As shown, the friction wheel group 422 of this embodiment also includes a mounting frame 4223, and the friction wheel group 422 can be mounted on the moving part of the module slide 421 through the mounting frame 4223; and the friction wheel 4221 is rotatably mounted in the mounting frame 4223, and the friction wheel 4221 is partially protruded from the mounting frame 4223 in the second direction Y, so that the friction wheel 4221 can clamp the shutdown platform with the part protruding from the mounting frame 4223, and the third rotating drive member 4222 is fixedly mounted on the outside of the mounting frame 4223, that is, the friction wheel group 422 can be assembled by mounting the base with the mounting frame 4223.

[0109] like Figure 15 As shown, in this embodiment, the number of friction wheels 4221 in the friction wheel group 422 is configured to be at least two, and at least two friction wheels 4221 are connected in transmission through a synchronous belt 4224; wherein, the third rotating driving member 4222 is connected in transmission with one of the friction wheels 4221. That is to say, the friction wheel group 422 of this embodiment can use at least two friction wheels 4221 to realize the movement drive of the parking platform 111, so as to ensure that the clamping assembly 42 can control the entire movement process of the parking platform 111 to meet the use requirements of the parking platform 111 circulating in two adjacent parking garages 110. Here, multiple friction wheels 4221 are coaxially connected with synchronous pulleys 4225, and the synchronous belt 4224 is wound around two synchronous pulleys 4225 to realize the synchronous rotation of the two friction wheels 4221.

[0110] like Figure 1As shown, in one embodiment, the nest unit further includes two second transverse movement mechanisms 50. The two second transverse movement mechanisms 50 correspond to the two hangars 110 one by one. The second transverse movement mechanism 50 is installed on the corresponding hangar 110, specifically, it can be installed on the main frame 11 of the hangar 110. Moreover, the second transverse movement mechanism 50 is arranged between the parking platform 111 communicating with the loading platform 12 and the loading platform 12, and is used to control the entry and exit of the parking platform 111 from the loading platform 12, so as to meet the usage requirements of each hangar 110 in the nest unit for taking off and landing drones on different sides. It should be noted that the specific structure and working principle of the above second transverse movement mechanism 50 are the same as those of the first transverse movement mechanism 40, and will not be elaborated here.

[0111] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0112] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as appropriate changes and variations made to the above embodiments fall within the scope of the spirit of the present invention, they fall within the scope of protection required by the present invention.

Claims

1. An unmanned aerial vehicle nest, comprising a nest unit, characterized in that: The machine nest unit comprises: A machine nest body (10) comprises two hangars (110), wherein the two hangars (110) are arranged in parallel along a first direction, wherein each hangar (110) comprises a carrying platform (12) and a plurality of parking platforms (111), wherein the carrying platform (12) can selectively be connected to one of the plurality of parking platforms (111); and the parking platform (111) connected to the carrying platform (12) can be moved laterally relative to the carrying platform (12), so that a drone can perform take-off and landing operations on the parking platform (111) located on the carrying platform (12); a return mechanism (20), arranged corresponding to the parking platform (111); the return mechanism (20) is at least partially mounted on the corresponding parking platform (111) and is used to control the locking / unlocking of the drone on the parking platform (111); A lifting drive mechanism (30) is installed on the machine nest body (10) and is used to drive the parking platforms (111) in the two parking hangars (110) to be lifted or lowered; The first transverse movement mechanism (40) is installed between the two parking hangars (110) and is used to clamp and drive the parking platform (111) to move transversely in a first direction, so that the parking platform (111) can flow between the two parking hangars (110).

2. The drone nest according to claim 1, characterized in that: The two bearing platforms (12) in the nest unit are arranged at diagonal positions on opposite sides of the nest body (10) in the first direction; The number of the first transverse movement mechanisms (40) in the machine nest unit is configured to be two, and the two first transverse movement mechanisms (40) are arranged at both ends of the machine nest body (10) in the vertical direction; the moving directions of the two first transverse movement mechanisms (40) are arranged in opposite directions, and the lifting directions of the parking platforms (111) in the two parking hangars (110) are arranged in opposite directions, so that the parking platforms (111) can circulate in the two parking hangars (110).

3. The drone nest according to claim 1, characterized in that: The parking hangar (110) further comprises a main frame (11), a connecting rod assembly (13) and a driving assembly (14); the connecting rod assembly (13) is respectively connected to the driving assembly (14) and the carrying platform (12) in a transmission manner, and the connecting rod assembly (13) can control the expansion / contraction of the carrying platform (12) on the main frame (11) under the drive of the driving assembly (14); Wherein, the connecting rod assembly (13) includes a power rod (131), a first pull rod (132), a second pull rod (133) and a third pull rod (134); one end of the power rod (131) is transmission-connected to the driving assembly (14); one end of the first pull rod (132) and one end of the second pull rod (133) are respectively hinged to the supporting platform (12), the other end of the first pull rod (132) is hinged to the other end of the power rod (131), the second pull rod (133) is staggered and hinged to the power rod (131), the other end of the second pull rod (133) is hinged to one end of the third pull rod (134), and the other end of the third pull rod (134) is hinged to the main frame (11).

4. The drone nest according to claim 3, characterized in that: The hangar (110) further comprises an auxiliary telescopic member (15), wherein the auxiliary telescopic member (15) is respectively hinged to the power rod (131) and the main frame (11) and is used to provide assistance for the rotation of the power rod (131); the auxiliary telescopic member (15) is controlled by the driving assembly (14).

5. The drone nest according to claim 1, characterized in that: The return mechanism (20) comprises: A sliding push rod group (21) is arranged on the front side of the parking platform (111) and is independently arranged relative to the parking platform (111), and the sliding push rod group (21) includes two push rods (211) arranged opposite to each other; A driving group (22) is installed on the back side of the parking platform (111), and the driving group (22) comprises a driving rack (221), a driving gear (222) and an elastic member (223); the driving rack (221) is slidably connected to the parking platform (111) in the first direction and abuts against the elastic member (223); the driving gear (222) is rotationally connected to the parking platform (111) and meshes with the driving rack (221); and the driving gear (222) is transmission-connected to the sliding push rod group (21) and is used to control the two push rods (211) in the sliding push rod group (21) to move away from each other or towards each other; A collision block (23) is installed on the bearing platform (12), the collision block (23) is arranged on the moving path of the driving rack (221), and the collision block (23) can abut against the driving rack (221) to limit the position, so that the driving rack (221) slides relative to the parking platform (111) and compresses the elastic member (223); The return mechanism (20) has a first state and a second state. When the return mechanism (20) is in the first state, the two push rods (211) in the sliding push rod group (21) move toward each other under the drive of the elastic member (223) to lock the UAV on the parking platform (111); when the return mechanism (20) is in the second state, the two push rods (211) in the sliding push rod group (21) move away from each other under the drive of the driving rack (221) to release the UAV locked by the push rods (211).

6. The drone nest according to claim 5, characterized in that: The return mechanism (20) further comprises a transmission group (24), wherein the transmission group (24) is arranged corresponding to the sliding push rod group (21); The transmission group (24) comprises a transmission gear (241) and two transmission racks (242); the transmission gear (241) is coaxially arranged with the driving gear (222) and is circumferentially limited with the driving gear (222); the two transmission racks (242) correspond one-to-one to the two push rods (211) in the corresponding sliding push rod group (21); and the transmission racks (242) are transmission-connected with the corresponding push rods (211) and mesh with the transmission racks (242).

7. The drone nest according to claim 1, characterized in that: The lifting drive mechanism (30) comprises a first rotating drive member (31), a driving shaft (32) and two lifting drive modules (33); the first rotating drive member (31) is respectively connected to the two lifting drive modules (33) via the driving shaft (32); The two lifting drive modules (33) correspond to the two parking hangars (110) one by one. The lifting drive modules (33) are arranged at the corresponding positions of the parking hangars (110) and are used to carry the multiple parking platforms (111) in the parking hangar (110) and drive the multiple parking platforms (111) to rise or fall synchronously in the parking hangar (110).

8. The drone nest according to claim 7, characterized in that: The lifting drive module (33) comprises a transmission wheel (332) and at least two transmission shafts (331), and the at least two transmission shafts (331) and the transmission wheel (332) are arranged at two ends of the corresponding parking hangar (110) in the vertical direction; At least two transmission shafts (331) are arranged on two opposite sides of the hangar (110) in a second direction, and are respectively connected to the drive shaft (32) in a transmission manner, wherein the second direction is perpendicular to the first direction; each transmission shaft (331) is connected to a drive wheel (333) in a circumferentially limited manner, the drive wheel (333) and the transmission wheel (332) are arranged correspondingly, and the drive wheel (333) and the corresponding transmission wheel (332) are connected in a transmission manner through a transmission member (334); The plurality of conveying members (334) cooperate with each other to carry the plurality of parking platforms (111) in the parking hangar (110).

9. The drone nest according to claim 1, characterized in that: The first transverse movement mechanism (40) comprises: A transverse drive assembly (41) comprises a second rotary drive member (411), a transverse reducer (412) and two connecting shafts (413), wherein the two connecting shafts (413) are coaxially arranged and are respectively connected to the second rotary drive member (411) through the transverse reducer (412); Two clamping assemblies (42) corresponding to the two connecting shafts (413) one by one, the clamping assemblies (42) comprising a die set slide (421) and a friction wheel set (422), the die set slide (421) being transmission-connected to the corresponding connecting shaft (413) and connected to the friction wheel set (422) for driving the friction wheel set (422) to perform reciprocating motion relative to the parking platform (111) in a second direction, wherein the second direction is perpendicular to the first direction; The friction wheel group (422) includes a friction wheel (4221) and a third rotating driving member (4222); the third rotating driving member (4222) is transmission-connected to the friction wheel (4221); the friction wheel (4221) can abut against the parking platform (111) in the second direction to limit the position; and the friction wheel (4221) can drive the parking platform (111) to move laterally in the first direction under the drive of the third rotating driving member (4222).

10. The drone nest according to claim 1, characterized in that: The machine nest unit also includes two second transverse movement mechanisms (50), the two second transverse movement mechanisms (50) correspond one to one to the two parking hangars (110), the second transverse movement mechanisms (50) are installed on the corresponding parking hangars (110), and the second transverse movement mechanisms (50) are arranged at a position between the parking platform (111) connected to the carrying platform (12) and the carrying platform (12), and are used to control the parking platform (111) to enter and exit the carrying platform (12).

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