Unmanned aerial vehicle storage device beneficial to energy supplementation of unmanned aerial vehicle and storage energy supplementation system

Abstract

The invention belongs to the field of unmanned aerial vehicle storage, and particularly relates to an unmanned aerial vehicle storage device beneficial to energy supplementation of an unmanned aerial vehicle and a storage energy supplementation system. In order to supplement energy for the unmanned aerial vehicle when the unmanned aerial vehicle is stored, the invention provides an unmanned aerial vehicle storage and energy supplement system, and a righting module and at least two holding modules are mounted on a vibration reduction frame; the righting module comprises a connecting base, a righting arm fixedly installed on the connecting base and a righting driving mechanism in transmission connection with the connecting base. The righting arm is provided with a trapezoidal wedge groove used for being matched with a trapezoidal wedge block on the unmanned aerial vehicle. Each holding module comprises a group of holding claws and a holding claw driving mechanism; and the energy complementing module is mounted on the connecting seat. The unmanned aerial vehicle is straightened at a time through cooperation of the trapezoidal wedge block and the trapezoidal wedge groove, the unmanned aerial vehicle is straightened and straightened for the second time through the at least two sets of holding modules, and therefore it is ensured that the energy supplementing head of the energy supplementing module directly faces the energy supplementing opening of the unmanned aerial vehicle, and energy supplementing for the unmanned aerial vehicle is facilitated.

Description

Technical Field

[0001] This invention belongs to the field of drone storage, and in particular relates to a drone storage device and storage power replenishment system that facilitates drone power replenishment. Background Technology

[0002] Drone hangars exist on offshore platforms and ships, housing multiple drones. Currently, such as Figure 1 and Figure 2 As shown, the internal outline of a drone hangar is a combination of trapezoidal and rectangular shapes. The lower rectangular part of the hangar has a cylindrical internal space, mainly used to store objects such as batteries, generators, and oil drums. A lifting mechanism is provided at its center to drive the tilting and translating mechanism 100 to move up and down. The upper trapezoidal part of the hangar has a multi-faceted internal space, with each side of the multi-faceted mechanism forming an inclined sidewall 400 of the hangar. The drone 200 needs to be fixedly stored on the inclined sidewall 400. The top of the hangar is the entrance and exit. When releasing the drone 200, the tilting and translating mechanism 100 can be used to take out the drone 200 and move it directly below the entrance and exit of the hangar. Then, the lifting mechanism is used to move the tilting and translating mechanism 100 and the drone to the entrance and exit of the hangar. Finally, the drone 200 is launched. When storing the drone 200, after the lifting mechanism descends, the tilting and translating mechanism 100 can be used to transport the drone 200 to the inclined sidewall 400 for storage. During this process, the UAV 200 will not pass through areas where batteries, generators, and oil drums are stored, effectively preventing interference between the UAV 200 and other objects. At the same time, the diameter of the hangar's entrance and exit is smaller than the diameter of the cylindrical part of the hangar, so the size of the sealing cover used to open and close the hangar's entrance and exit is smaller, which is conducive to using a power source such as a hydraulic cylinder to open and close the sealing cover.

[0003] The flipping and translating mechanism 100 includes a pry bar for gripping the drone 200, a flipping mechanism for driving the gripper to flip the drone 200, and a translating mechanism for driving the drone 200 to move directly below the hangar entrance / exit when the drone 200 is flipped to a horizontal position.

[0004] During the process of transporting the UAV 200 to the inclined sidewall 400 using the flipping and translation mechanism 100, the accuracy of the flipping mechanism in flipping the UAV 200 is limited, resulting in different tilt angles of the UAV 200 after each flip. For example, Figure 1 As shown, if the required tilt angle of the drone 200 is 79°, then the tilt angle of the drone 200 after each flip may be 78°, 78.5°, 79°, 79.4°, etc. Considering only the storage of the drone 200, the drone 200 can be held using the gripper mounted on the tilted sidewall 400.

[0005] However, if the drone 200 is to be recharged (fueled and / or charged) while being stored, the drone 200 must be tilted at an angle of 79°, and the recharge port on the drone 200 must be directly aligned with the recharge head of the recharge module. Therefore, there is an urgent need for a drone storage and recharge system that can simultaneously recharge the drone 200 while storing it. Summary of the Invention

[0006] The purpose of this invention is to provide a drone storage device that facilitates drone power replenishment, thereby solving the technical problem in the prior art that it is impossible to replenish drone power while storing drones when used in conjunction with a power replenishment module.

[0007] The purpose of this invention is to provide a drone storage and power replenishment system to solve the technical problem in the prior art that it is impossible to replenish the power of a drone while storing it.

[0008] The purpose of this invention is to provide a drone that is compatible with a drone storage and recharge system, thereby solving the technical problem that existing drones cannot recharge while being stored.

[0009] The purpose of this invention is to provide a method for storing and replenishing power for unmanned aerial vehicles (UAVs) to solve the technical problem in the prior art that it is impossible to replenish power for UAVs while storing them.

[0010] To achieve the above objectives, the technical solution of the UAV storage device for UAV power replenishment provided by the present invention is as follows: A drone storage device for recharging drones includes a vibration damping frame for mounting on the inclined side wall of a hangar, and a straightening module and at least two clamping modules spaced apart along the length of the drone mounted on the vibration damping frame. The straightening module includes a connecting seat, a straightening arm fixedly mounted on the connecting seat, and a straightening drive mechanism that is pulsatorically connected to the connecting seat and used to drive the straightening arm to move along the length direction of the UAV. The straightening arm is provided with trapezoidal wedge grooves and / or trapezoidal wedge blocks that match the trapezoidal wedge blocks and / or trapezoidal wedge grooves on the UAV body, so as to straighten the UAV to a set tilt angle and straighten the UAV to a set position in the length and height directions of the UAV. Each clamping module includes a set of grippers and a gripper drive mechanism for driving the grippers to clamp or release the drone. After all the grippers clamp the drone, the center points of each set of grippers are aligned in the length direction of the drone to straighten the drone. The connector has a mounting structure for installing a power replenishment module to recharge the drone after it has been righted and positioned.

[0011] The beneficial effects are as follows: After the power replenishment module is installed on the connector through the mounting structure, the drone is straightened to the set tilt angle by the cooperation of the trapezoidal wedge block and the trapezoidal wedge groove, and the drone is straightened to the set position in the length and height directions. At the same time, the drone's head and tail are straightened by at least two sets of clamping modules, and the drone is straightened to the set position in the width direction, thereby ensuring that the power replenishment head is directly facing the power replenishment port, so as to replenish the drone when storing the drone.

[0012] Furthermore, the vibration damping frame includes a frame body and a vibration damper for connecting the frame body to the inclined sidewall. The frame body has a recess for recessing into the inclined sidewall, and the straightening module is installed in the recess.

[0013] The beneficial effects are as follows: After the power supply module is installed on the connector through the mounting structure, since the straightening module is installed on the recessed part, the distance between the power supply module and the inclined side wall is closer and the distance between the power supply module and the drone is farther. Therefore, it can more effectively avoid collisions between the power supply module and the drone during the process of straightening and aligning the drone.

[0014] Furthermore, the gripper drive mechanism includes a buffer device, the buffer end of which is connected to the gripper.

[0015] The beneficial effect is that the buffer device can prevent the gripper from making rigid contact with the drone, thus preventing the gripper from damaging the drone.

[0016] Furthermore, the gripper includes an arcuate portion that matches the drone and a stop edge connected to the end of the arcuate portion away from the vibration damping frame.

[0017] The beneficial effects are as follows: After the power supply module is installed on the connector through the mounting structure, on the one hand, the stop edge can balance part of the weight of the drone; on the other hand, the stop edge can balance the force exerted by the power supply module on the drone when the power supply module supplies power to the drone, thereby better securing the drone.

[0018] Furthermore, two straightening arms are arranged at intervals along the width of the drone, and there is a clearance space between the two straightening arms to avoid the drone fuselage.

[0019] The beneficial effects are as follows: In the width direction of the drone, there is a sufficient gap between the two straightening arms. This gap increases the equivalent straightening length of the two straightening arms, so the thickness of a single trapezoidal wedge groove and trapezoidal wedge block can be reduced. On the one hand, the straightening effect is good. On the other hand, the straightening blocks used to set the trapezoidal wedge blocks and / or trapezoidal wedge grooves on the drone can be made smaller, which helps to reduce the weight and air resistance of the drone and improve the drone's endurance.

[0020] To achieve the above objectives, the technical solution of the UAV storage and replenishment system provided by this invention is as follows: A drone storage and recharge system includes a recharge module and a drone storage device for facilitating drone recharge. The drone storage device for facilitating drone recharge includes a vibration damping frame for installation on the inclined side wall of the hangar. The vibration damping frame is equipped with a straightening module and at least two clamping modules for being spaced apart along the length of the drone. The straightening module includes a connecting seat, a straightening arm fixedly mounted on the connecting seat, and a straightening drive mechanism that is pulsatorically connected to the connecting seat and used to drive the straightening arm to move along the length direction of the UAV. The straightening arm is provided with trapezoidal wedge grooves and / or trapezoidal wedge blocks that match the trapezoidal wedge blocks and / or trapezoidal wedge grooves on the UAV body, so as to straighten the UAV to a set tilt angle and straighten the UAV to a set position in the length and height directions of the UAV. Each clamping module includes a set of grippers and a gripper drive mechanism for driving the grippers to clamp or release the drone. After all the grippers clamp the drone, the center points of each set of grippers are aligned in the length direction of the drone to straighten the drone. The connector has a mounting structure for installing a power replenishment module to recharge the drone after it has been uprighted and oriented. The power replenishment module is installed on the connector. The power replenishment module includes a power replenishment head corresponding to the power replenishment port of the drone and a power replenishment drive mechanism for driving the power replenishment head to insert into or retract from the power replenishment port after the drone is uprighted and oriented. The part of the power supply head that is always located outside the power supply port has a connection structure that connects to the energy supply system.

[0021] The beneficial effects are as follows: the drone is straightened to a set tilt angle by the cooperation of trapezoidal wedges and trapezoidal wedge grooves, and the drone is straightened to a set position in the length and height directions. At the same time, the drone's head and tail are straightened by at least two sets of clamping modules, and the drone is straightened to a set position in the width direction, thereby ensuring that the power supply head is directly facing the power supply port. This makes it easier to drive the power supply head to be inserted into the power supply port when storing the drone, so as to facilitate power supply to the drone.

[0022] Furthermore, the vibration damping frame includes a frame body and a vibration damper for connecting the frame body to the inclined sidewall. The frame body has a recess for recessing into the inclined sidewall, and the straightening module is installed in the recess.

[0023] The beneficial effects are as follows: After the power supply module is installed on the connector through the mounting structure, since the straightening module is installed on the recessed part, the distance between the power supply module and the inclined side wall is closer and the distance between the power supply module and the drone is farther. Therefore, it can more effectively avoid collisions between the power supply module and the drone during the process of straightening and aligning the drone.

[0024] Furthermore, the gripper drive mechanism includes a buffer device, the buffer end of which is connected to the gripper.

[0025] The beneficial effect is that the buffer device can prevent the gripper from making rigid contact with the drone, thus preventing the gripper from damaging the drone.

[0026] Furthermore, the gripper includes an arcuate portion that matches the drone and a stop edge connected to the end of the arcuate portion away from the vibration damping frame.

[0027] The beneficial effects are as follows: After the power supply module is installed on the connector through the mounting structure, on the one hand, the stop edge can balance part of the weight of the drone; on the other hand, the stop edge can balance the force exerted by the power supply module on the drone when the power supply module supplies power to the drone, thereby better securing the drone.

[0028] Furthermore, two straightening arms are arranged at intervals along the width of the drone, and there is a clearance space between the two straightening arms to avoid the drone fuselage.

[0029] The beneficial effects are as follows: In the width direction of the drone, there is a sufficient gap between the two straightening arms. This gap increases the equivalent straightening length of the two straightening arms, so the thickness of a single trapezoidal wedge groove and trapezoidal wedge block can be reduced. On the one hand, the straightening effect is good. On the other hand, the straightening blocks used to set the trapezoidal wedge blocks and / or trapezoidal wedge grooves on the drone can be made smaller, which helps to reduce the weight and air resistance of the drone and improve the drone's endurance.

[0030] Furthermore, the energy replenishment module includes a three-axis compensation mechanism installed between the energy replenishment head and the energy replenishment drive mechanism.

[0031] The beneficial effect is that the triaxial compensation mechanism can provide millimeter-level compensation to the energy replenishing head when it is inserted into the energy replenishing port, so as to ensure that the energy replenishing head can be smoothly inserted into the energy replenishing port.

[0032] Furthermore, the three-axis compensation mechanism includes four layers of base and a buffer device connected between every two layers of base. The buffering directions of the three layers of buffer are perpendicular to each other and are respectively used to correspond to the width direction, height direction, and length direction of the UAV.

[0033] The beneficial effect is that the three-axis compensation direction of the three-axis compensation mechanism is the same as the direction of the straightening module and the clamping module in straightening the drone, which can better ensure that the power supply head can be smoothly inserted into the power supply port.

[0034] To achieve the above objectives, the technical solution for the unmanned aerial vehicle provided by this invention is as follows: A drone includes a fuselage with a power supply port and trapezoidal wedges and / or trapezoidal wedge slots for matching trapezoidal wedge slots and / or trapezoidal wedge blocks on a straightening arm.

[0035] The beneficial effects are: by setting trapezoidal wedges and / or trapezoidal wedge grooves on the fuselage, it can cooperate with the drone storage and recharging system when storing drones to locate the storage position and attitude of the drones, which facilitates recharging of the drones.

[0036] To achieve the above objectives, the technical solution of the UAV storage and replenishment method provided by this invention is as follows: A method for storing and replenishing power for a drone, comprising storing the drone and replenishing its power using the drone storage and replenishment system described above in this invention, following the steps of: Step S1: Drive the straightening arm to move towards the drone to straighten the drone to a set tilt angle, and straighten the drone to a set position in both the length and height directions. Step S2: Ensure that each clamping module clamps the drone tightly and that the center point of each set of clamps is aligned with the drone along its length to straighten the drone. Step S3: The power replenishment drive mechanism drives the power replenishment head to insert into the power replenishment port to replenish the power of the UAV.

[0037] The beneficial effects are as follows: the drone is straightened to a set tilt angle by the cooperation of trapezoidal wedges and trapezoidal wedge grooves, and the drone is straightened to a set position in the length and height directions. At the same time, the drone's head and tail are straightened by at least two sets of clamping modules, and the drone is straightened to a set position in the width direction, thereby ensuring that the power supply head is directly facing the power supply port. This makes it easier to drive the power supply head to be inserted into the power supply port when storing the drone, so as to facilitate power supply to the drone. Attached Figure Description

[0038] Figure 1 A schematic diagram of the structure for the flip-translation mechanism to supply power to the UAV's storage and replenishment system; Figure 2 A schematic diagram of the internal outline of the drone storage hangar; Figure 3 A schematic diagram of the structure when the UAV storage and replenishment system and the flip-and-translation mechanism hand over the UAV (the flip-and-translation mechanism is omitted). Figure 4 A schematic diagram illustrating the process of a drone storage and replenishment system receiving and replenishing power for a drone. Figure 5 for Figure 3 A schematic diagram of the drone's storage and power replenishment system and the drone's structure. Figure 6 A schematic diagram of the structure of a drone's energy storage and replenishment system; Figure 7 for Figure 6A structural schematic diagram of the straightening module and the energy replenishment module from one perspective; Figure 8 for Figure 6 Another structural diagram of the uprighting module and the energy replenishment module in the middle; Figure 9 for Figure 7 Structural diagram after the straightening frame is omitted; Figure 10 A structural diagram of the straightening frame; Figure 11 for Figure 6 A schematic diagram of the structure of the clamping module; Figure 12 for Figure 6 Schematic diagram of the vibration damping frame; Figure 13 A schematic diagram showing the installation positions of the energy replenishment module and the straightening module on the vibration damping frame; Figure 14 A schematic diagram of the structure of a drone storage and power replenishment system when receiving data from a drone (the clamping module is omitted). Figure 15 for Figure 14 Enlarged view of the structure at point A in the middle; Figure 16 This is a schematic diagram of the power replenishment module.

[0039] Explanation of reference numerals in the attached figures: 100. Tilting and translation mechanism; 200. Unmanned aerial vehicle (UAV); 300. UAV storage and power replenishment system; 400. Inclined sidewall; 1. Clamping module; 1-1. Claw; 1-1-1. Stop edge; 1-1-2. Anti-slip layer; 1-2. Buffer device; 1-3. Transmission seat; 1-4. Screw; 1-5. Clamping motor; 1-6. Guide rod; 1-7. Base; 2. Straightening module; 2-1. Straightening motor; 2-2. Trapezoidal wedge groove; 2-3. Straightening arm; 2-4. Connecting seat; 2 -5. Sliding seat; 2-6. Slide rail; 2-7. Mounting plate; 3. Energy replenishment module; 3-1. Energy replenishment motor; 3-2. Guide seat; 3-3. Three-axis compensation mechanism; 3-3-1. First seat body; 3-3-2. Mounting shaft; 3-3-3. Buffer spring; 3-3-4. Second seat body; 3-3-5. Third seat body; 3-3-6. Fourth seat body; 3-4. Energy replenishment head; 4. Vibration damping frame; 4-1. Vibration damper; 4-2. Recessed part; 5. Trapezoidal wedge block; 6. Energy replenishment port. Detailed Implementation

[0040] To address the problems in the background art, the core inventive concept of this invention is as follows: by cooperating with trapezoidal wedges and trapezoidal wedge grooves, the drone is straightened to a set tilt angle, and the drone is straightened to a set position in both the length and height directions. At the same time, at least two sets of clamping modules are used to straighten the head and tail of the drone, and the drone is straightened to a set position in the width direction, thereby ensuring that the power supply head is directly aligned with the power supply port, so as to provide power to the drone when storing it.

[0041] The present invention will be further described in detail below with reference to the embodiments.

[0042] Embodiments of the UAV provided by this invention: like Figures 1-15 As shown, in one embodiment, the drone 200 includes a fuselage and wings and skids connected to the fuselage. The fuselage is provided with a power supply port 6 and a trapezoidal wedge 5 for matching with a trapezoidal wedge groove 2-2 on the straightening arm 2-3. The trapezoidal wedge 5 can be regarded as a trapezoidal straightening block. The flipping and translating mechanism 100 can grasp the drone by clamping the skids.

[0043] In other embodiments, the fuselage of the UAV 200 may also be provided with trapezoidal wedge grooves 2-2 corresponding to the trapezoidal wedge blocks 5 on the straightening arm 2-3. In this case, the straightening block can be provided first on the fuselage of the UAV 200, and then the trapezoidal wedge grooves 2-2 can be provided on the straightening block; or, both the straightening arm 2-3 and the fuselage of the UAV 200 are provided with trapezoidal wedge blocks 5 and trapezoidal wedge grooves 2-2, and the trapezoidal wedge blocks 5 and trapezoidal wedge grooves 2-2 correspond one-to-one.

[0044] It should be noted that in this invention, the trapezoid in "trapezoidal wedge groove 2-2" and "trapezoidal wedge block 5" refers to the cross-section of the wedge groove or wedge block being trapezoidal. The wedge groove and wedge block also have thickness in essence, so "trapezoidal wedge groove 2-2" and "trapezoidal wedge block 5" are essentially a quadrangular prism structure with a trapezoidal cross-section.

[0045] An embodiment of the UAV storage and power replenishment system provided by the present invention: The UAV storage and recharge system provided by the present invention is used to store the UAV of the present invention and recharge the UAV of the present invention, wherein the recharged energy can be fuel or electricity.

[0046] like Figures 1-15 As shown, the UAV storage and recharge system 300 includes a UAV storage device for facilitating UAV recharge and a recharge module 3 for connecting to the energy supply system and recharging the UAV 200. The UAV storage device includes a vibration damping frame 4 for mounting on the inclined side wall 400 of the hangar. The vibration damping frame 4 is equipped with a straightening module 2 and at least two clamping modules 1 spaced apart along the length of the UAV.

[0047] The energy supply system may include a battery and a cable. The battery is connected to the power replenishment module 3 via the cable to replenish the power of the UAV 200. Alternatively, the energy supply system may be a fuel supply system, which is used to mix aviation kerosene or gasoline with lubricating oil in a certain proportion to form a mixed fuel. The mixed fuel enters the refueling pipe under the action of a pump. The refueling pipe is connected to the power replenishment module 3 to replenish the mixed fuel for the UAV 200.

[0048] The following is a separate introduction to each module.

[0049] The following is an introduction to module 2, the "Straightening Module".

[0050] like Figures 3-10 and Figure 15 As shown, the straightening module 2 includes a connecting seat 2-4, a straightening arm 2-3 fixedly mounted on the connecting seat 2-4, and a straightening drive mechanism that is pulsatorically connected to the connecting seat 2-4 and used to drive the straightening arm 2-3 to move along the length direction of the UAV. The straightening arm 2-3 is provided with trapezoidal wedge grooves 2-2 and / or trapezoidal wedge blocks 5 that match the trapezoidal wedge blocks 5 and / or trapezoidal wedge grooves 2-2 on the fuselage of the UAV 200, so as to straighten the UAV 200 to a set tilt angle and straighten the UAV 200 to a set position in both the length and height directions. The set tilt angle matches the tilt angle of the inclined sidewall 400, for example, when the tilt angle of the inclined sidewall 400 is 79°, the UAV 200 is straightened to a tilt angle of 79°.

[0051] exist Figures 3-10 In this configuration, there are two straightening arms 2-3, spaced apart along the width of the drone, forming a clearance space between them to allow the drone 200 to pass. Each of the two straightening arms 2-3 corresponds to a straightening block on either side of the drone's width, forming a trapezoidal wedge 5. The straightening arms 2-3 have corresponding trapezoidal wedge grooves 2-2. This sufficient spacing between the two straightening arms 2-3 increases the effective straightening length of the two arms 2-3, thus reducing the thickness of individual trapezoidal wedge grooves 2-2 and trapezoidal wedge blocks 5. This results in better straightening performance and allows for smaller straightening blocks on the drone 200, reducing its weight and air resistance, and improving its endurance.

[0052] In other embodiments, to ensure the balance of the drone 200, there is an even number of straightening blocks, which are symmetrically arranged on both sides of the drone's width direction. However, the number of straightening arms 2-3 can also be one, three or more. All the straightening blocks can be used for straightening, or the number of straightening arms 2-3 can be less than the number of straightening blocks, so that fewer straightening arms 2-3 can be used for straightening.

[0053] like Figure 8 and Figure 9 As shown, in this invention, the straightening drive mechanism is a linear drive mechanism for driving the connecting seat 2-4 to move linearly. The linear drive mechanism includes a straightening motor 2-1, which is a linear motor, and is mounted on the vibration damping frame 4 via a mounting plate 2-7. The output end of the straightening motor 2-1 is connected to the connecting seat 2-4 for transmission, thereby driving the connecting seat 2-4 to move linearly. To enable the connecting seat 2-4 to move linearly more effectively, a slide rail 2-6 is also provided on the mounting plate 2-7, and a sliding seat 2-5 matching the slide rail 2-6 is connected to the connecting seat 2-4.

[0054] like Figure 5 As shown, when the straightening arm 2-3 contacts the straightening block, on the one hand, the straightening arm 2-3 will drive the drone 200 to rotate to the set tilt angle, and on the other hand, the trapezoidal wedge groove 2-2 and the trapezoidal wedge block 5 cooperate to straighten the drone 200 to the set position in the length and height directions of the drone.

[0055] The following is an introduction to the clamping module 1.

[0056] like Figures 4-6 and Figure 11 As shown, the clamping module 1 includes a set of grippers 1-1 and a gripper drive mechanism for driving the grippers 1-1 to clamp or release the drone 200. After all the grippers 1-1 clamp the drone 200, the center points of each set of grippers 1-1 are aligned in the length direction of the drone to straighten the drone 200 in the width direction. After the drone 200 is straightened, on the one hand, the position of the drone 200 in the width direction of the drone is determined, and on the other hand, the orientation of the head and tail of the drone 200 is also determined, thereby enabling the determination of the position and attitude of the power supply port 6 on the drone 200.

[0057] The gripper 1-1 includes an arc-shaped portion that matches the drone 200. Preferably, the gripper 1-1 also includes a stop edge 1-1-1 connected to the end of the arc-shaped portion away from the vibration damping frame 4. On the one hand, the stop edge 1-1-1 can stop the drone 200 to balance part of the drone 200's weight; on the other hand, when it is necessary to replenish energy, the stop edge 1-1-1 can stop the drone 200's fuselage to balance the force generated when the energy replenishment module 3 cooperates with the drone 200.

[0058] like Figure 4 As shown, when the straightening arm 2-3 is located below the gripper 1-1, the gripper 1-1 and the straightening arm 2-3 work together to support the weight of the drone 200 during storage. To increase the coefficient of friction between the gripper 1-1 and the drone 200 and reduce the force exerted by the gripper 1-1 on the drone 200, preferably, the contact area between the gripper 1-1 and the drone 200 has an anti-slip layer 1-1-2.

[0059] It should be noted that in the embodiment where the straightening arm 2-3 is located above the gripper 1-1, when storing the drone 200, the weight of the drone 200 is supported only by the gripper 1-1.

[0060] The gripper drive mechanism includes a base 1-7 fixedly mounted on the vibration damping frame 4. A screw translation structure is mounted on the base 1-7. The screw translation structure includes a transmission seat 1-3, a screw 1-4, and a gripping motor 1-5 that drives the screw 1-4 to rotate. Figure 11 In this configuration, the two ends of the screw 1-4 are connected to a rotary bearing and a clamping motor 1-5, respectively. The screw 1-4 matches the threaded hole on the transmission seat 1-3, and the transmission seat 1-3 is anti-rotatingly fitted with the base 1-7 to drive the transmission seat 1-3 to translate when the screw 1-4 rotates. To facilitate guiding the transmission seat 1-3, guide rods 1-6 located on both sides of the screw 1-4 are also fixedly connected to the base 1-7, and the guide rods 1-6 pass through the corresponding guide holes on the transmission seat 1-3.

[0061] The gripper 1-1 is mounted on the transmission seat 1-3, so that the transmission seat 1-3 can drive the gripper 1-1 to move closer to or away from the UAV 200. Figure 11 In this embodiment, each gripper 1-1 is equipped with a set of screw translation mechanism. However, in other embodiments, the two transmission seats 1-3 corresponding to the grippers 1-1 in the same group can also be connected to the same screw 1-4. When the screw 1-4 rotates forward, the two grippers 1-1 move closer to each other. When the screw 1-4 rotates in reverse, the two grippers 1-1 move further away from each other. At this time, the center point of the two grippers 1-1 remains unchanged, which makes it easier to ensure that the center points of different groups of grippers 1-1 are always aligned in the length direction of the UAV.

[0062] When each gripper 1-1 is equipped with a separate screw translation mechanism, the center point of the two grippers 1-1 can be kept constant by controlling the rotation speed of the screw 1-4 corresponding to the gripper 1-1 in the same group to always be the same.

[0063] When the gripper 1-1 comes into contact with the drone 200, in order to avoid rigid contact between the gripper 1-1 and the drone 200, on the one hand, the anti-slip layer 1-1-2 can be set as an elastic buffer anti-slip layer such as a rubber layer or a polyurethane layer; on the other hand, the gripper drive mechanism can also include a buffer device 1-2, the buffer end of the buffer device 1-2 is connected to the gripper 1-1, and the other end is connected to the transmission seat 1-3, so as to buffer the force when the gripper 1-1 comes into contact with the drone 200.

[0064] Among them, the buffer device 1-2 should only buffer along the width direction of the drone to avoid the gripper 1-1 moving in the height direction of the drone when the buffer device 1-2 deforms, and to avoid the phenomenon that the gripper 1-1 cannot hold the drone 200.

[0065] The buffer device 1-2 may include a fixed block fixedly connected to the transmission seat 1-3. The fixed block has a through hole that matches the bolt's thread. After the bolt passes through the through hole, a nut is connected. A spring is fitted on the bolt's thread section between the bolt head and the fixed block. The bolt head is fixedly connected to the gripper 1-1. When the gripper 1-1 contacts the UAV 200, the bolt moves, and the spring is compressed to buffer the gripper 1-1. The bolt can be replaced with any part including a thread and a connecting block. When the connecting block is hexagonal, it forms a hexagonal bolt, and the end where the connecting block is located constitutes the buffer end.

[0066] The following is a detailed introduction to the energy replenishment module 3.

[0067] like Figures 4-9 and Figures 14-16 As shown, the power supply module 3 includes a power supply head 3-4 corresponding to the power supply port 6 of the UAV 200 and a power supply drive mechanism for inserting or retracting the power supply head 3-4 into or out of the power supply port 6 after the UAV 200 is uprighted and oriented. The portion of the power supply head 3-4 that is always located outside the power supply port 6 has a connection structure for connecting to the energy supply system. The connection structure can be a quick connector or quick interface for connecting to a cable or refueling pipe. The power supply head 3-4 corresponds to the power supply port 6 on the UAV 200.

[0068] It should be noted that since existing drones inherently require recharging and have recharging ports of a specific shape, and require specific recharging heads for recharging, the recharging heads 3-4 in this invention can be existing recharging heads that are compatible with existing recharging ports, and the connection structure can also be an existing connection structure.

[0069] The core of this invention lies in how to align the energy replenishment port 6 and the energy replenishment head 3-4 without manual intervention, thereby facilitating the insertion of the energy replenishment head 3-4 into the energy replenishment port 6 by using an energy replenishment drive mechanism, without affecting the structure of the energy replenishment head 3-4 and the energy replenishment port 6.

[0070] like Figures 7-9 As shown, the power replenishment drive mechanism includes a power replenishment motor 3-1, which is a linear motor. The connecting base 2-4 has a mounting structure for the power replenishment module 3, which is installed to replenish the power of the UAV 200 after it has been uprighted and oriented. Figures 7-10 As shown, the mounting structure is a mounting surface, such as... Figure 7 As shown, the mounting surface is the side of the connecting seat 2-4, and the power supply motor 3-1 is mounted on the mounting surface via a motor mount. The output end of the power supply drive mechanism is connected to the power supply head 3-4 to drive the power supply head 3-4 to move along the altitude direction of the UAV.

[0071] Under normal circumstances, after the drone 200 is straightened by the straightening arm 2-3 and positioned by the gripper 1-1, the power supply head 3-4 is aligned with the power supply port 6, and the power supply motor 3-1 can drive the power supply head 3-4 to insert into the power supply port 6.

[0072] To ensure safety redundancy and allow the power supply head 3-4 to be inserted into the power supply port 6, the power supply module 3 also includes a three-axis compensation mechanism 3-3 installed between the power supply head 3-4 and the power supply drive mechanism. Figures 7-9 As shown, a guide seat 3-2 is fixedly connected to the connecting seat 2-4. The guide seat 3-2 is provided with a slide rail extending along the height direction of the UAV. The output end of the power supply motor 3-1 is fixedly connected to the three-axis compensation mechanism 3-3. The three-axis compensation mechanism 3-3 includes a slide groove that matches the slide rail on the guide seat 3-2, so that the power supply motor 3-1 can drive the three-axis compensation mechanism 3-3 to translate along the height direction of the UAV.

[0073] like Figure 16 As shown, the triaxial compensation mechanism 3-3 includes four layers of base and a buffer device connected between every two layers of base. The buffering directions of the three layers of buffer device are perpendicular to each other.

[0074] exist Figure 16 In this configuration, the fourth seat 3-3-6 is connected to the output end of the power supply motor 3-1 via bolts. A first buffer device is provided between the fourth seat 3-3-6 and the third seat 3-3-5 to buffer displacement in the drone's height direction. A second buffer device is provided between the third seat 3-3-5 and the second seat 3-3-4 to buffer displacement in the drone's width direction. A third buffer device is provided between the second seat 3-3-4 and the first seat 3-3-1 to buffer displacement in the drone's length direction. The buffer device in the three-axis compensation mechanism 3-3 can be the same as or similar to the buffer device 1-2 between the gripper 1-1 and the transmission seat 1-3.

[0075] The third buffer device is described as an example. The third buffer device includes a mounting shaft 3-3-2 that passes through both the first base 3-3-1 and the second base 3-3-4. Both ends of the mounting shaft 3-3-2 are fixedly connected to the second base 3-3-4. The mounting shaft 3-3-2 and the first base 3-3-1 are slidably fitted along the length of the drone. A buffer spring 3-3-3 is fitted onto the mounting shaft 3-3-2, with both ends contacting the first base 3-3-1 and the second base 3-3-4 respectively, to buffer the displacement of the drone along its length. The second buffer device is similar to the third buffer device, except that the buffering direction is different; the first buffer device can be the same as the buffer device 1-2 between the gripper 1-1 and the transmission seat 1-3.

[0076] The three-axis compensation mechanism 3-3 can compensate for the energy replenishing head 3-4 in three directions, with the compensation displacement at the millimeter level, such as 3 mm, 5 mm, or 7 mm, thus facilitating the insertion of the energy replenishing head 3-4 into the energy replenishing port 6. Simultaneously, the energy replenishing port 6 is also provided with a guide ramp to guide the energy replenishing head 3-4 into the energy replenishing port 6, ensuring that the energy replenishing head 3-4 is inserted into the energy replenishing port 6.

[0077] The following is an introduction to the vibration damping frame 4.

[0078] like Figure 3 , Figure 12 and Figure 13 As shown, the vibration damping frame 4 includes a frame body and vibration dampers 4-1. The two ends of the vibration damper 4-1 are connected to the frame body and the inclined sidewall 400, respectively. The clamping module 1 and the straightening module 2 are both mounted on the frame body. The base 1-7 of the clamping module 1 can be fixedly connected to the frame body by welding or bolting; the mounting plate 2-7 of the straightening module 2 can also be fixedly connected to the frame body by welding or bolting. The vibration dampers 4-1 are arranged at the four corners of the frame body. Different stiffness coefficients can be selected for the four vibration dampers 4-1 according to actual working conditions to offset low-frequency, large-amplitude swaying impacts. The vibration damping frame 4 constitutes a "flexible fixed support" environment, effectively filtering out broadband vibration and impact energy from the hangar, providing the UAV 200 with a near-static "microenvironment," greatly improving storage reliability.

[0079] The bolts connecting the shock absorber 4-1 to the frame body can be removed from one side of the shock absorber 4-1. Replacement does not require complete disassembly; individual shock absorbers 4-1 can be removed and replaced sequentially. The shock absorber 4-1 has a mooring function, ensuring a reliable connection even if the elastic element tears or detaches, preventing the entire UAV storage and recharging system 300 from falling if the elastic element fails.

[0080] In one embodiment, the distance between the frame body and the inclined sidewall 400 is always equal in the drone's altitude direction, resulting in a simple structure. In this case, the power replenishment module 3 preferably does not include the three-axis compensation mechanism 3-3.

[0081] like Figure 14 and Figure 15 As shown, when the power supply module 3 includes a three-axis compensation mechanism 3-3, the distance between the power supply head 3-4 and the power supply port 6 is relatively close. In order to avoid collision between the power supply head 3-4 and the drone 200 during the process of straightening and aligning the drone 200, preferably, the frame body has a recess 4-2 for recessing into the inclined side wall 400. The straightening module 2 is installed on the recess 4-2 to increase the distance between the power supply head 3-4 and the drone 200.

[0082] The distance that the recessed portion 4-2 can recess is limited by the height of the shock absorber 4-1 in the direction of the drone's altitude. When the recessed portion 4-2 is recessed to its maximum extent, the recessed portion 4-2 can contact the inclined sidewall 400.

[0083] The following combination Figure 4 The entire storage and recharge process of the UAV 200 is described.

[0084] like Figure 4 As shown, the first step is that the flipping and translating mechanism 100 flips the drone 200 to the corresponding tilt angle; the second step is that, along the drone's height direction, the flipping and translating mechanism 100 translates the drone 200 to the position corresponding to the gripper 1-1 and the straightening arm 2-3; the third step is that the gripper 1-1 pre-grips the drone 200, on the one hand, to leave room for the subsequent movement of the drone 200, and on the other hand, to facilitate the gripper 1-1 to firmly grip the drone 200 later; the fourth step is that the straightening motor 2-1 drives the straightening arm 2-3 to move to the set position, and with the cooperation of the trapezoidal wedge block 5 and the trapezoidal wedge groove 2-2, the drone 200 is straightened in one step. The tilt angle is set, and the drone 200 is straightened to the set position in both the height and length directions. During the straightening process, the support force to overcome the weight of the drone 200 is mainly provided by the flipping and translating mechanism 100. In the fifth step, the gripper 1-1 holds the drone 200 tightly. At the same time, the flipping and translating mechanism 100 separates from the drone 200 to straighten the head and tail orientation of the drone 200, and straightens the drone 200 to the set position again in the width direction. In the sixth step, the power supply motor 3-1 drives the power supply head 3-4 to insert into the power supply port 6 on the drone 200 to power the drone 200.

[0085] After recharging is complete, the recharging motor 3-1 drives the recharging head 3-4 to exit the recharging port 6, after which the UAV 200 can be stored normally.

[0086] During the aforementioned energy storage and replenishment process, various sensors can be used to determine whether the tilting and translating mechanism 100, the straightening arm 2-3, and other moving mechanisms or components are in position. These sensors communicate with the central control system on the offshore platform or ship, and the central control system communicates with each motor to ensure the normal operation of the entire energy storage and replenishment process. The communication connection can be a wired connection via electrical wires or a wireless connection via Wi-Fi, 2.4G, or 5G networks.

[0087] In this invention, the power replenishment motor 3-1 and the straightening motor 2-1 can be replaced by direct-acting power sources such as electric telescopic rods, hydraulic cylinders, and pneumatic cylinders.

[0088] An embodiment of the drone storage device for drone power replenishment provided by the present invention: Reference Figures 3-16As shown, the drone storage device for drone recharging in this invention is any one of the above-described embodiments of drone storage devices for drone recharging. The only difference between the drone storage device and the drone storage and recharging system 300 is that the drone storage device does not include the recharging module 3, while the drone storage and recharging system 300 includes the recharging module 3. This will not be elaborated further here.

[0089] An embodiment of the UAV energy storage and replenishment method provided by the present invention: The UAV storage and replenishment method of the present invention can be implemented using the UAV storage and replenishment system 300 and the UAV 200 provided in the present invention.

[0090] like Figure 4 As shown, the following steps can be followed to store drone 200 and recharge drone 200: Step S1: Drive the straightening arm 2-3 to move toward the drone 200 to straighten the drone 200 to a set tilt angle, and straighten the drone 200 to a set position in both the length and height directions (it is only necessary to move the straightening arm 2-3 to the set position; with the cooperation of the trapezoidal wedge block 5 and the trapezoidal wedge groove 2-2, the drone 200 will be automatically straightened). Step S2: Ensure that each clamping module 1 clamps the drone 200 and that the center point of each set of clamping claws 1-1 is aligned with the drone along its length, so as to straighten the drone 200 and thus align the power supply head 3-4 with the power supply port 6. Step S3: The power replenishment drive mechanism drives the power replenishment head 3-4 to insert into the power replenishment port 6 to replenish the power of the UAV 200.

[0091] In step S1, the gripper 1-1 can also be used to pre-grip the drone 200.

[0092] In this invention, the drone 200 is straightened to a set tilt angle by the cooperation of the trapezoidal wedge block 5 and the trapezoidal wedge groove 2-2, and the drone 200 is straightened to a set position in the length and height directions of the drone. At the same time, the head and tail of the drone 200 are straightened by at least two sets of clamping modules 1, and the drone 200 is straightened to a set position in the width direction of the drone, thereby ensuring that the power supply head 3-4 is aligned with the power supply port 6, so as to provide power to the drone 200 when storing the drone 200.

[0093] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features, or organically combine different embodiments to create the embodiments shown in the accompanying drawings. Of course, those skilled in the art can also create other embodiments not shown in the accompanying drawings. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A drone storage device for recharging drones, characterized in that, Includes a vibration damping frame for installation on the sloping sidewall of the hangar, with a straightening module and at least two clamping modules spaced apart along the length of the UAV. The straightening module includes a connecting seat, a straightening arm fixedly mounted on the connecting seat, and a straightening drive mechanism that is pulsatorically connected to the connecting seat and used to drive the straightening arm to move along the length direction of the UAV. The straightening arm is provided with trapezoidal wedge grooves and / or trapezoidal wedge blocks that match the trapezoidal wedge blocks and / or trapezoidal wedge grooves on the UAV body, so as to straighten the UAV to a set tilt angle and straighten the UAV to a set position in the length and height directions of the UAV. Each clamping module includes a set of grippers and a gripper drive mechanism for driving the grippers to clamp or release the drone. After all the grippers clamp the drone, the center points of each set of grippers are aligned in the length direction of the drone to straighten the drone. The connector has a mounting structure for installing a power replenishment module to recharge the drone after it has been righted and positioned.

2. The drone storage device for drone power replenishment as described in claim 1, characterized in that, The vibration damping frame includes a frame body and a vibration damper for connecting the frame body to the inclined sidewall. The frame body has a recess for recessing into the inclined sidewall, and the straightening module is installed on the recess.

3. The drone storage device for drone power replenishment as described in claim 1 or 2, characterized in that, The gripper drive mechanism includes a buffer device, the buffer end of which is connected to the gripper.

4. The drone storage device for drone power replenishment as described in claim 1 or 2, characterized in that, The gripper includes an arc-shaped portion that matches the drone and a stop edge connected to the end of the arc-shaped portion away from the vibration damping frame.

5. The drone storage device for drone power replenishment as described in claim 1 or 2, characterized in that, Two straightening arms are arranged at intervals along the width of the drone, and there is a clearance space between the two straightening arms to avoid the drone fuselage.

6. A storage and replenishment system for unmanned aerial vehicles (UAVs), characterized in that, It includes a power replenishment module and a drone storage device for replenishing drone power as described in any one of claims 1 to 5, wherein the power replenishment module is mounted on a connector. The power replenishment module includes a power replenishment head corresponding to the power replenishment port of the drone and a power replenishment drive mechanism for driving the power replenishment head to insert into or retract from the power replenishment port after the drone is uprighted and oriented. The part of the power supply head that is always located outside the power supply port has a connection structure that connects to the energy supply system.

7. The UAV storage and power replenishment system as described in claim 6, characterized in that, The energy replenishment module includes a three-axis compensation mechanism installed between the energy replenishment head and the energy replenishment drive mechanism.

8. The UAV storage and power replenishment system as described in claim 7, characterized in that, The three-axis compensation mechanism includes four layers of base and a buffer device connected between every two layers of base. The buffering directions of the three layers of buffer device are perpendicular to each other and are respectively used to correspond to the width direction, height direction and length direction of the UAV.

9. A drone, comprising a fuselage, wherein a power supply port is provided on the fuselage, characterized in that, The machine body is also provided with trapezoidal wedges and / or trapezoidal wedge grooves for matching with trapezoidal wedge grooves and / or trapezoidal wedge blocks on the straightening arm.

10. A method for storing and replenishing energy for unmanned aerial vehicles (UAVs), characterized in that, The UAV storage and recharge system according to any one of claims 6 to 8 stores the UAV as described in claim 9 and recharges the UAV according to the following steps: Step S1: Drive the straightening arm to move towards the drone to straighten the drone to a set tilt angle, and straighten the drone to a set position in both the length and height directions. Step S2: Ensure that each clamping module clamps the drone tightly and that the center point of each set of clamps is aligned with the drone along its length to straighten the drone. Step S3: The power replenishment drive mechanism drives the power replenishment head to insert into the power replenishment port to replenish the power of the UAV.

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