An automatic charging hangar for unmanned aerial vehicles

Abstract

The invention discloses an automatic charging hangar for unmanned aerial vehicles, comprising: a hangar shell, the hangar shell comprising a support rod, a support column, a support fixing rod and a closed shell, the support column and the support fixing rod are both arranged on the support rod, and the closed shell is arranged on the support rod and the support column; a battery replacement part, the battery replacement part comprises an elevator and a battery loading and unloading part, the elevator and the battery loading and unloading part are both arranged on the support fixing rod; a centering part, the centering part comprises a longitudinal centering part and a transverse centering part, and the longitudinal centering part is arranged on the support vertical rod; a warehouse door part, the warehouse door part comprises a warehouse door slide, a warehouse door slide rail, a warehouse door plate and a warehouse door power part, the warehouse door slide and the warehouse door power part are both arranged on the top support rod, the warehouse door slide rail is arranged on the warehouse door slide, and the warehouse door plate is arranged on the warehouse door slide rail. The invention has a high degree of automation, is safe and reliable, can significantly reduce the labor intensity of staff, significantly reduce manpower input, significantly reduce operating costs, and is suitable for large-scale popularization and use.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle (UAV) supporting equipment, and more specifically, to an automatic charging hangar for unmanned aerial vehicles (UAVs). Background Art

[0002] As the recognition of the application value of drones deepens, drones are developing rapidly in the consumer, industrial and military markets. Drones are increasingly being used in many fields.

[0003] However, the flight time of drones has become the biggest bottleneck hindering the development of drones. Although lithium-ion batteries are the batteries with the best overall performance on the market, they still cannot fully meet the drone's flight time requirements. Therefore, the drone charging issue must be considered during the use of drones.

[0004] The current drone inventory has the following shortcomings:

[0005] 1. The traditional drone hangar is actually a storage rack suitable for the size of the drone. Since there is a certain position error after the drone lands, the parking, storage and management of the drone need to be done manually, which is very labor-intensive.

[0006] 2. As drones need to be charged frequently and there are a large number of them, the traditional method of manually charging them by staff requires huge manpower investment.

[0007] Therefore, it is of great significance to design an automatic charging hangar for drones that is highly automated, safe and reliable, can significantly reduce the labor intensity of staff, significantly reduce manpower input, significantly reduce operating costs, and is suitable for large-scale popularization. Summary of the invention

[0008] In order to overcome the above defects, the present invention provides an automatic charging hangar for unmanned aerial vehicles, which specifically adopts the following technical solutions:

[0009] An automatic charging hangar for unmanned aerial vehicles, comprising:

[0010] A hangar shell, the hangar shell comprises a support rod, a support column, a support fixing rod and a closed shell, the support column and the support fixing rod are both arranged on the support rod, and the closed shell is arranged on the support rod and the support column.

[0011] A battery replacement unit, wherein the battery replacement unit is arranged on the hangar shell, and the battery replacement unit comprises an elevator and a battery loading and unloading unit, and the elevator and the battery loading and unloading unit are both arranged on the supporting and fixing rod.

[0012] A centering portion, the centering portion is arranged on the hangar shell, the centering portion comprises a longitudinal centering portion and a transverse centering portion, the longitudinal centering portion is arranged on the supporting vertical pole, and the transverse centering portion is arranged on the longitudinal centering portion.

[0013] The door part is arranged on the hangar shell, and the door part includes a door slide, a door rail, a door plate and a door power part. The door slide and the door power part are both arranged on the top support rod, the door rail is arranged on the door slide, and the door plate is arranged on the door rail.

[0014] Preferably, the support rod includes a bottom support rod and a top support rod, and the bottom support rod is provided with multiple numbers, and the bottom support rods are fixedly connected end to end; the support columns are provided with multiple numbers, and the support columns are evenly and vertically fixed on the bottom support rod; the top support rod is provided with multiple numbers, and the top support rod is fixedly connected end to end, and the top support rod is fixedly set on the support column; the support fixing rod is provided with multiple numbers, and the multiple support fixing rods are fixedly set on the bottom support rod.

[0015] The enclosed shell includes an outer plate and a swing door, wherein the outer plate is arranged on the support rod and the support column, and the swing door is arranged on the support column; the outer plate is provided with multiple pieces, and the outer plate is fixedly arranged on the bottom support rod and the side surface formed by the support column; the swing door is fixedly arranged on one side surface formed by the support column.

[0016] Preferably, the lift is a scissor-fork type lift, and the lift is fixedly arranged on the supporting fixing rod; the battery loading and unloading part includes a battery charging station and a loading and unloading robot, and the battery charging station and the loading and unloading robot are both arranged on the supporting fixing rod; a lithium battery cell is arranged inside the battery charging station.

[0017] Preferably, the loading and unloading robot includes a supporting column, a first sliding member, a second sliding member and a robotic arm, the first sliding member is arranged on the supporting column, the second sliding member is arranged on the first sliding member, and the robotic arm is arranged on the second sliding member; the supporting column is columnar, and the supporting column is vertically fixed on the supporting fixing rod; the first sliding member includes a first slide groove, a first slide rail, a first motor, a first transmission belt and a first sliding seat, the first slide groove is arranged on the supporting column, the first slide rail and the first motor are both arranged on the first slide groove, the first transmission belt is arranged on the first motor, and the first sliding seat is arranged on the first transmission belt.

[0018] Preferably, the first slide groove is in the shape of a U-shaped groove, the length of the first slide groove is greater than the projection length of the elevator, and the first slide groove is fixedly arranged on the supporting column along the longitudinal horizontal direction of the drone automatic charging hangar.

[0019] The first motor is fixedly arranged on the side wall of one end of the first slide groove, and the first motor is a pneumatic motor; a first driving wheel is arranged at one end of the first slide groove, and the first driving wheel is fixedly connected to the rotating shaft of the first motor, and a first driven wheel is arranged at the other end of the first slide groove; the first transmission belt is arranged on the first driving wheel and the first driven wheel.

[0020] The first slide rail is generally plate-shaped, one end of the first slide rail is fixedly arranged on one end of the first slide groove, and the first slide rail is parallel to the first slide groove; the first sliding seat is groove-shaped, the bottom surface of the first sliding seat is fixedly arranged on the first transmission belt, and the first sliding seat is buckled on the outside of the first slide rail, so that the first sliding seat can move relatively along the first slide rail.

[0021] Preferably, the second sliding member includes a second sliding groove, a second sliding rail, a second motor, a second transmission belt and a second sliding seat, the second sliding groove is arranged on the first sliding seat, the second sliding rail and the second motor are both arranged on the second sliding groove, the second transmission belt is arranged on the second motor, and the second sliding seat is arranged on the second transmission belt.

[0022] The second slide groove is in the shape of a U-shaped groove, the length of the second slide groove is greater than the projection width of the elevator, and the second slide groove is fixedly arranged on the first sliding seat horizontally along the UAV automatic charging hangar.

[0023] The second motor is fixedly arranged on the side wall at one end of the second slide groove, and the second motor is a pneumatic motor; a second driving wheel is arranged at one end in the second slide groove, and the second driving wheel is fixedly connected to the rotating shaft of the second motor; a second driven wheel is arranged at the other end in the second slide groove; and the second transmission belt is arranged on the second driving wheel and the second driven wheel.

[0024] The second slide rail has the same structure as the first slide rail, one end of the second slide rail is fixedly arranged on one end of the second slide groove, and the second slide rail is parallel to the second slide groove; the second sliding seat has the same structure as the first sliding seat, the bottom surface of the second sliding seat is fixedly arranged on the second transmission belt, and the second sliding seat is buckled on the outside of the second slide rail, so that the second sliding seat can move relatively along the second slide rail.

[0025] Preferably, the robotic arm includes an arm seat, a motor, a screw, a spline and a loading and unloading hand, the arm seat is arranged on the second sliding seat, the motor is arranged on the arm seat, the screw is arranged on the motor, the spline is arranged on the screw, and the loading and unloading hand is arranged on the spline.

[0026] The arm seat is in a right-angled shape, one right-angled side of the arm seat is fixedly arranged on the second sliding seat, and the other right-angled side of the arm seat is in a groove shape; the motor is vertically arranged at the corner of the arm seat, the screw rod is fixedly connected to the rotating shaft of the motor, and the screw rod is located in the other right-angled side groove of the arm seat; the spline is sleeved on the screw rod, and the spline cooperates with the screw rod; the loading and unloading hand is vertically arranged on the spline, and the loading and unloading hand has a visual positioning function, which can automatically identify the position of the drone battery and can realize automatic loading and unloading of the drone battery.

[0027] Preferably, the longitudinal centering part includes a first longitudinal slide rail, a second longitudinal slide rail, a third motor, a third transmission belt, a third sliding seat, a first centering rod and an auxiliary platform, the first longitudinal slide rail and the second longitudinal slide rail are both arranged on the supporting column, the third motor is arranged on the first longitudinal slide rail, the third transmission belt is arranged on the third motor, the third sliding seat is arranged on the third transmission belt, the first centering rod is arranged on the third sliding seat, and the auxiliary platform is arranged on the second longitudinal slide rail.

[0028] The first longitudinal slide rail is horizontally fixed on the supporting column on one longitudinal side, and the second longitudinal slide rail is horizontally fixed on the supporting column on the other longitudinal side; the third motor is fixed on the side wall of one end of the first longitudinal slide rail through a first fixing seat, and the third motor is a pneumatic motor.

[0029] A third driving wheel is fixedly connected to the third motor shaft, and the third driving wheel is located in the first fixed seat groove; a third driven wheel is arranged on the side wall at the other end of the first longitudinal slide rail; and the third transmission belt is arranged on the third driving wheel and the third driven wheel.

[0030] The third sliding seat is groove-shaped, and there are at least four third sliding seats, half of which are respectively buckled at the two ends of the first longitudinal slide rail, and the other half of the third sliding seats are respectively buckled at the two ends of the second longitudinal slide rail; the third sliding seat can slide on the first longitudinal slide rail and the second longitudinal slide rail.

[0031] The first pair of centering rods are rod-shaped, and both ends of the first pair of centering rods are respectively fixed on the third sliding seats on the first longitudinal slide rail and the second longitudinal slide rail; there are multiple first pair of centering rods, and the multiple first pair of centering rods are respectively and correspondingly arranged on the third sliding seats located at the same end, and the first pair of centering rods are parallel to each other.

[0032] The third sliding seats at both ends of the first longitudinal slide rail are respectively connected to the third transmission belt on the upper side of the third driving wheel and the third transmission belt on the lower side of the third driving wheel through the first connecting plates.

[0033] The auxiliary platform is plate-shaped, and a rectangular through hole is provided at the center of the auxiliary platform. The size of the rectangular through hole is larger than the projection size of the elevator. After the elevator is raised, the elevator platform can be inserted into the rectangular through hole and flush with the auxiliary platform.

[0034] Preferably, the transverse centering part includes a first transverse slide rail, a second transverse slide rail, a fourth motor, a fourth transmission belt, a fourth sliding seat and a second centering rod, the first transverse slide rail and the second transverse slide rail are both arranged on the first longitudinal slide rail, the fourth motor is arranged on the first transverse slide rail, the fourth transmission belt is arranged on the fourth motor, the fourth sliding seat is arranged on the fourth transmission belt, and the second centering rod is arranged on the fourth sliding seat.

[0035] The first transverse slide rail is horizontally fixedly set at one end of the first longitudinal slide rail, and the second transverse slide rail is horizontally fixedly set at the other end of the first longitudinal slide rail; the fourth motor is fixedly set on the side wall of one end of the first transverse slide rail through a second fixed seat, the fourth motor is a pneumatic motor, and the second fixed seat is groove-shaped.

[0036] A fourth driving wheel is fixedly connected to the fourth motor shaft, the fourth driving wheel is located in the second fixed seat groove, and a fourth driven wheel is arranged on the side wall at the other end of the first transverse slide rail; the fourth transmission belt is arranged on the fourth driving wheel and the fourth driven wheel.

[0037] The fourth sliding seat is groove-shaped, and there are multiple fourth sliding seats, half of which are respectively buckled at the two ends of the first transverse slide rail, and the other half of the fourth sliding seats are respectively buckled at the two ends of the second transverse slide rail. The fourth sliding seat can slide on the first transverse slide rail and the second transverse slide rail.

[0038] The second pair of centering rods are rod-shaped, and both ends of the second pair of centering rods are respectively fixed on the fourth sliding seats on the first transverse slide rail and the second transverse slide rail; there are multiple second pair of centering rods, and the multiple second pair of centering rods are respectively and correspondingly arranged on the fourth sliding seats at the same end, and the second pair of centering rods are parallel to each other.

[0039] The fourth sliding seats at both ends of the first transverse slide rail are respectively connected to the third transmission belt on the upper side of the fourth driving wheel and the third transmission belt on the lower side of the fourth driving wheel through second connecting plates.

[0040] Preferably, the door slide is in the shape of a dovetail groove, the door slide is provided with multiple sections, the door slide is evenly arranged on the two top support rods parallel to each other, and the door slides are parallel to each other.

[0041] The door slide rail is in the shape of a dovetail block. Four door slide rails are provided. The door slide rails are embedded in the door slide groove one by one, and the door slide rails cooperate with the door slide groove.

[0042] The door panel is rectangular and has two panels, which are respectively fixed on the door rails at both ends; the door power parts include a rack, a gear and a servo motor, the rack is arranged on the door panel, the servo motor is arranged on the top support rod, and the gear is arranged on the servo motor; there are a plurality of racks, which are respectively fixed on the lower surface of the door panel, and the racks are parallel to the door rails; there are a plurality of servo motors, which are respectively fixed on the top support rod below the rack; the number of gears is the same as the number of servo motors, the gears are respectively arranged on the rotating shaft of the servo motor, and the gears are meshed with the racks.

[0043] The present invention has at least the following beneficial effects:

[0044] 1) The automatic charging hangar for unmanned aerial vehicles of the present invention has a high degree of automation, is safe and reliable, can significantly reduce the labor intensity of staff, significantly reduce manpower input, significantly reduce operating costs, and is suitable for large-scale popularization and use;

[0045] 2) The automatic charging hangar for unmanned aerial vehicles of the present invention is provided with a loading and unloading manipulator, which includes a supporting column, a first sliding member, a second sliding member and a mechanical arm. The first sliding member can realize automatic longitudinal positioning, the second sliding member can realize automatic lateral positioning, the mechanical arm can realize automatic vertical positioning, and the mechanical arm has a visual positioning function, which can automatically identify the position of the unmanned aerial vehicle battery and automatically load and unload the unmanned aerial vehicle battery;

[0046] 3) The automatic charging hangar for UAVs of the present invention is provided with a centering portion, which includes a longitudinal centering portion and a transverse centering portion. The longitudinal centering portion can automatically stop the UAV at the longitudinal center of the auxiliary platform, and the transverse centering portion can automatically stop the UAV at the transverse center of the auxiliary platform, that is, to completely stop the UAV on the lifting platform.

[0047] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is the right axonometric view of the three-dimensional structure of the automatic charging hangar for UAVs of the present invention;

[0049] Figure 2 This is the left axonometric view of the three-dimensional structure of the automatic charging hangar for UAVs of the present invention;

[0050] Figure 3 This is a three-dimensional structural diagram of the automatic charging hangar for UAVs of the present invention from an end perspective;

[0051] Figure 4 This is a three-dimensional structural diagram of the automatic charging hangar for UAVs of the present invention from the rear side perspective;

[0052] Figure 5 The automatic charging hangar for the drone of the present invention Figure 1 A partial enlarged view of middle A;

[0053] Figure 6 The automatic charging hangar for the drone of the present invention Figure 2 A partial enlarged view of B.

[0054] Among them: 1-support column, 2-support fixing rod, 3-bottom support rod, 4-top support rod, 5-sliding door, 6-elevator, 7-battery charging platform, 8-support column, 9-first slide slot, 10-first slide rail, 11-first motor, 12-first transmission belt, 13-first sliding seat, 14-second slide slot, 16-second motor, 18-second sliding seat, 19-arm seat, 21-loading and unloading hand, 22-first longitudinal slide rail, 23-second longitudinal slide rail, 24-third motor, 25-third transmission belt, 26-third sliding seat, 27-first pair of centering rods, 28-auxiliary platform, 29-first transverse slide rail, 31-fourth motor, 34-second pair of centering rods, 37-door plate, 38-first connecting plate, 39-second connecting plate, 40-UAV, 41-elevator platform, 42-first fixed seat, 43-third driving wheel. DETAILED DESCRIPTION

[0055] The technical solution of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of these embodiments is used to help understand the present invention, but does not constitute a limitation of the present invention.

[0056] The term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist at the same time. The term " / and" in this article describes another type of association object relationship, indicating that there can be two relationships. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " in this article generally indicates that the previous and next associated objects are in an "or" relationship.

[0057] according to Figure 1-Figure 6 As shown, an automatic charging hangar for unmanned aerial vehicles includes a hangar shell, a battery replacement part, a centering part and a hangar door part, and the battery replacement part, the centering part and the hangar door part are all arranged on the hangar shell.

[0058] The hangar shell includes a support rod, a support column 1, a support fixing rod 2 and a closed shell. The support column 1 and the support fixing rod 2 are both arranged on the support rod, and the closed shell is arranged on the support rod and the support column 1.

[0059] The support rods include a bottom support rod 3 and a top support rod 4. Four bottom support rods 3 are provided, and the bottom support rods 3 are fixedly connected end to end to form a rectangle. Four support columns 1 are provided, and the support columns 1 are evenly and vertically fixedly provided on the bottom support rod 3. Four top support rods 4 are provided, and the top support rods 4 are fixedly connected end to end to form a rectangle, and the top support rods 4 are fixedly provided on the support column 1. Three support fixing rods 2 are provided, and the three support fixing rods 2 are fixedly provided on the bottom support rod 3.

[0060] Furthermore, the support rod, the support column 1 and the support fixing rod 2 are all aluminum profiles, and the support rod, the support column 1 and the support fixing rod 2 are connected to each other using angle key grooves, so that the drone automatic charging hangar is light and beautiful, and can adapt to working in complex outdoor environments. Compared with other drone hangars with welded frames, the cost is greatly reduced and the transportation is more convenient.

[0061] The enclosed shell includes an outer plate and a swing door 5 . The outer plate is arranged on the support rod and the support column 1 , and the swing door 5 is arranged on the support column 1 .

[0062] The outer peripheral plate is provided with four pieces, and the outer peripheral plate is fixedly arranged on the four bottom support rods 3 and the three side surfaces formed by the four support columns 1. The swing door 5 is fixedly arranged on one side surface formed by the four support columns 1. The sealed shell cooperates with the door part to seal the interior of the automatic charging hangar of the drone to prevent water, wind and dust, and provide a safe environment for automatic charging of drones.

[0063] The battery replacement unit includes a lifter 6 and a battery loading and unloading unit, and both the lifter 6 and the battery loading and unloading unit are arranged on the support fixing rod 2. The lifter 6 is a scissor-fork lifter, and the lifter 6 is fixedly arranged on the support fixing rod 2.

[0064] The battery loading and unloading part includes a battery charging platform 7 and a loading and unloading robot, and both the battery charging platform 7 and the loading and unloading robot are arranged on the supporting and fixing rod 2.

[0065] The battery charging station 7 is provided with a lithium battery cell inside, and the lithium battery cell can charge the drone battery. The battery charging station 7 is also provided with a power cord, and the power cord can be connected to an external power source to charge the lithium battery cell.

[0066] The loading and unloading robot comprises a supporting column 8, a first sliding member, a second sliding member and a robot arm, wherein the first sliding member is arranged on the supporting column 8, the second sliding member is arranged on the first sliding member, and the robot arm is arranged on the second sliding member.

[0067] The support column 8 is columnar, and the support column 8 is vertically fixed on the support fixing rod 2, and the support column 8 is located at a corner of the elevator 6. The first sliding member includes a first slide groove 9, a first slide rail 10, a first motor 11, a first transmission belt 12 and a first sliding seat 13, the first slide groove 9 is arranged on the support column 8, the first slide rail 10 and the first motor 11 are both arranged on the first slide groove 9, the first transmission belt 12 is arranged on the first motor 11, and the first sliding seat 13 is arranged on the first transmission belt 12.

[0068] The first chute 9 is in a U-shaped groove shape, the length of the first chute 9 is greater than the length of the elevator platform 41, and the first chute 9 is fixedly arranged on the support column 8 along the longitudinal horizontal direction of the drone automatic charging hangar. Specifically, the first chute 9 is a U-groove aluminum profile. A first drag chain groove is arranged outside the first chute 9, and a first drag chain is arranged inside the first drag chain groove, and the first drag chain is used for air supply pipes and wiring.

[0069] The first motor 11 is fixedly arranged on a side wall at one end of the first chute 9. Further, the first motor 11 is a pneumatic motor. A first driving wheel is arranged at one end of the first chute 9, and the first driving wheel is fixedly connected to the rotating shaft of the first motor 11. A first driven wheel is arranged at the other end of the first chute 9. The first transmission belt 12 is arranged on the first driving wheel and the first driven wheel.

[0070] The first slide rail 10 is generally plate-shaped, one end of the first slide rail 10 is fixedly disposed on one end of the first slide groove 9 , and the first slide rail 10 is parallel to the first slide groove 9 .

[0071] The first sliding seat 13 is groove-shaped, the bottom surface of the first sliding seat 13 is fixedly disposed on the first transmission belt 12 , and the first sliding seat 13 is buckled outside the first slide rail 10 , so that the first sliding seat 13 can move relatively along the first slide rail 10 .

[0072] When the first motor 11 rotates, the first transmission belt 12 can rotate around the first driving wheel and the first driven wheel through the first driving wheel, thereby driving the first sliding seat 13 to slide along the first slide rail 10, and finally making the second sliding member slide longitudinally along the UAV automatic charging hangar to achieve longitudinal positioning.

[0073] The second sliding member includes a second sliding groove 14, a second sliding rail, a second motor 16, a second transmission belt and a second sliding seat 18, the second sliding groove 14 is arranged on the first sliding seat 13, the second sliding rail and the second motor 16 are both arranged on the second sliding groove 14, the second transmission belt is arranged on the second motor 16, and the second sliding seat 18 is arranged on the second transmission belt.

[0074] The second chute 14 is in a U-shaped groove shape, the length of the second chute 14 is greater than the width of the elevator platform 41, and the second chute 14 is horizontally fixedly arranged on the first sliding seat 13 along the horizontal direction of the automatic charging hangar of the drone. Specifically, the second chute 14 is a U-groove aluminum profile. A second drag chain groove is arranged outside the second chute 14, and a second drag chain is arranged inside the second drag chain groove, and the second drag chain is used for air supply pipes and wiring.

[0075] The second motor 16 is fixedly arranged on a side wall at one end of the second chute 14. Further, the second motor 16 is a pneumatic motor. A second driving wheel is arranged at one end of the second chute 14, and the second driving wheel is fixedly connected to the rotating shaft of the second motor 16. A second driven wheel is arranged at the other end of the second chute 14. The second transmission belt is arranged on the second driving wheel and the second driven wheel.

[0076] The second slide rail has the same structure as the first slide rail 10 , one end of the second slide rail is fixedly disposed on one end of the second slide slot 14 , and the second slide rail is parallel to the second slide slot 14 .

[0077] The second sliding seat 18 has the same structure as the first sliding seat 13 . The bottom surface of the second sliding seat 18 is fixedly disposed on the second transmission belt, and the second sliding seat 18 is buckled outside the second slide rail so that the second sliding seat 18 can move relatively along the second slide rail.

[0078] When the second motor 16 rotates, the second transmission belt can rotate around the second driving wheel and the second driven wheel through the second driving wheel, thereby driving the second sliding seat 18 to slide along the second slide rail, and finally making the manipulator slide laterally along the UAV automatic charging hangar to achieve lateral positioning.

[0079] The robotic arm includes an arm seat 19, a motor, a screw, a spline and a loading and unloading hand 21. The arm seat 19 is arranged on the second sliding seat 18, the motor is arranged on the arm seat 19, the screw is arranged on the motor, the spline is arranged on the screw, and the loading and unloading hand 21 is arranged on the spline.

[0080] The arm seat 19 is in a right angle shape, one right angle side of the arm seat 19 is fixedly arranged on the second sliding seat 18, and the other right angle side of the arm seat 19 is in a groove shape. The motor is vertically arranged at the corner of the arm seat 19, the screw is fixedly connected to the rotating shaft of the motor, and the screw is located in the other right angle side groove of the arm seat 19.

[0081] The spline is mounted on the screw rod, and the spline cooperates with the screw rod. The loading and unloading hand 21 is vertically arranged on the spline, and the loading and unloading hand 21 has a visual positioning function, can automatically identify the position of the drone battery, and can automatically load and unload the drone battery. When the loading and unloading hand 21 releases the bayonet on the drone battery, the loading and unloading hand 21 directly clamps the low-power battery and places the low-power battery on the battery charging station 7 for charging. After that, the loading and unloading hand 21 clamps the fully charged battery from the battery charging station 7 to the drone battery placement position for automatic installation.

[0082] The centering portion includes a longitudinal centering portion and a transverse centering portion. The longitudinal centering portion is arranged on the supporting upright pole, and the transverse centering portion is arranged on the longitudinal centering portion.

[0083] The longitudinal centering part includes a first longitudinal slide rail 22, a second longitudinal slide rail 23, a third motor 24, a third transmission belt 25, a third sliding seat 26, a first centering rod 27 and an auxiliary platform 28. The first longitudinal slide rail 22 and the second longitudinal slide rail 23 are both arranged on the supporting column 8, the third motor 24 is arranged on the first longitudinal slide rail 22, the third transmission belt 25 is arranged on the third motor 24, the third sliding seat 26 is arranged on the third transmission belt 25, the first centering rod 27 is arranged on the third sliding seat 26, and the auxiliary platform 28 is arranged on the second longitudinal slide rail 23.

[0084] The first longitudinal slide rail 22 is horizontally fixedly disposed on the two supporting columns 8 on one longitudinal side, and the second longitudinal slide rail 23 is horizontally fixedly disposed on the two supporting columns 8 on the other longitudinal side.

[0085] The third motor 24 is fixedly arranged on the side wall of one end of the first longitudinal slide rail 22 through the first fixing seat 42, and the third motor 24 is a pneumatic motor. Specifically, the first fixing seat 42 is groove-shaped, and the groove of the first fixing seat 42 is fixedly arranged on the side of the first longitudinal slide rail 22, and the third motor 24 is fixedly arranged on the bottom of the groove of the first fixing seat 42.

[0086] The third motor 24 has a third driving wheel 43 fixedly connected to its rotating shaft, and the third driving wheel 43 is located in the groove of the first fixing seat 42. A third driven wheel is disposed on the side wall at the other end of the first longitudinal slide rail 22. The third transmission belt 25 is disposed on the third driving wheel 43 and the third driven wheel.

[0087] The third sliding seat 26 is in a groove shape, and there are four third sliding seats 26, two of which are buckled at the two ends of the first longitudinal slide rail 22, and the other two are buckled at the two ends of the second longitudinal slide rail 23. The third sliding seat 26 can slide on the first longitudinal slide rail 22 and the second longitudinal slide rail 23.

[0088] The first centering rod 27 is in a rod shape, and both ends of the first centering rod 27 are respectively fixedly arranged on the third sliding seat 26 on the first longitudinal slide rail 22 and the second longitudinal slide rail 23. There are two first centering rods 27, and the two first centering rods 27 are respectively arranged on the third sliding seat 26 located at the same end, and the two first centering rods 27 are parallel to each other.

[0089] The two third sliding seats 26 on the first longitudinal slide rail 22 are respectively connected to the third transmission belt 25 on the upper side of the third driving wheel 43 and the third transmission belt 25 on the lower side of the third driving wheel 43 through the first connecting plate 38 .

[0090] When the third motor 24 rotates forward, the third transmission belt 25 will rotate forward around the third driving wheel 43 and the third driven wheel, and at this time, the third transmission belt 25 will pull the third sliding seats 26 at both ends to slide inward at the same time, so that the two first centering rods 27 move inward at the same time, that is, the longitudinal centering of the drone 40 can be achieved. When the third motor 24 rotates reversely, the third transmission belt 25 will rotate reversely around the third driving wheel 43 and the third driven wheel, and at this time, the third transmission belt 25 will pull the third sliding seats 26 at both ends to slide outward at the same time, so that the two first centering rods 27 move outward at the same time.

[0091] The auxiliary platform 28 is plate-shaped, and a rectangular through hole is set at the center of the auxiliary platform 28. The size of the rectangular through hole is larger than the size of the elevator platform 41. After the elevator 6 is raised, the elevator platform 41 can be deeply inserted into the rectangular through hole and flush with the auxiliary platform 28, so that the drone 40 can land on the elevator platform 41.

[0092] The transverse centering part includes a first transverse slide rail 29, a second transverse slide rail, a fourth motor 31, a fourth transmission belt, a fourth sliding seat and a second centering rod 34. The first transverse slide rail 29 and the second transverse slide rail are both arranged on the first longitudinal slide rail 22, the fourth motor 31 is arranged on the first transverse slide rail 29, the fourth transmission belt is arranged on the fourth motor 31, the fourth sliding seat is arranged on the fourth transmission belt, and the second centering rod 34 is arranged on the fourth sliding seat.

[0093] The first transverse slide rail 29 is horizontally fixedly disposed at one end of the first longitudinal slide rail 22 , and the second transverse slide rail is horizontally fixedly disposed at the other end of the first longitudinal slide rail 22 .

[0094] The fourth motor 31 is fixedly arranged on the side wall of one end of the first transverse slide rail 29 through a second fixing seat, and the fourth motor 31 is a pneumatic motor. Specifically, the second fixing seat is in a groove shape, and the groove of the second fixing seat is fixedly arranged on the side of the first transverse slide rail 29, and the fourth motor 31 is fixedly arranged on the bottom of the groove of the second fixing seat.

[0095] The fourth motor 31 has a fourth driving wheel fixedly connected to its rotating shaft, and the fourth driving wheel is located in the second fixed seat groove. A fourth driven wheel is arranged on the side wall of the other end of the first transverse slide rail 29. The fourth transmission belt is arranged on the fourth driving wheel and the fourth driven wheel.

[0096] The fourth sliding seat is in a groove shape, and there are four of them, two of which are buckled at the two ends of the first transverse slide rail 29, and the other two are buckled at the two ends of the second transverse slide rail. The fourth sliding seat can slide on the first transverse slide rail 29 and the second transverse slide rail.

[0097] The second centering rod 34 is in a rod shape, and the two ends of the second centering rod 34 are respectively fixedly arranged on the first transverse slide rail 29 and the fourth sliding seat on the second transverse slide rail. There are two second centering rods 34, and the two second centering rods 34 are respectively arranged on the fourth sliding seat at the same end, and the two second centering rods 34 are parallel.

[0098] The two fourth sliding seats on the first transverse slide rail 29 are respectively connected to the third transmission belt 25 on the upper side of the fourth driving wheel and the third transmission belt 25 on the lower side of the fourth driving wheel through the second connecting plate 39.

[0099] When the fourth motor 31 rotates forward, the fourth transmission belt will rotate forward around the fourth driving wheel and the fourth driven wheel, and the fourth transmission belt will pull the fourth sliding seats at both ends to slide inward at the same time, so that the two second centering rods 34 move inward at the same time, that is, the UAV 40 can be horizontally centered. When the fourth motor 31 rotates reversely, the fourth transmission belt will rotate reversely around the fourth driving wheel and the fourth driven wheel, and the fourth transmission belt will pull the fourth sliding seats at both ends to slide outward at the same time, so that the two second centering rods 34 move outward at the same time.

[0100] The door portion includes a door slide, a door rail, a door plate 37 and a door power component. The door slide and the door power component are both arranged on the top support rod 4, the door rail is arranged on the door slide, and the door plate 37 is arranged on the door rail.

[0101] The door slide is in the shape of a dovetail groove, and is provided with four sections. The door slide is evenly arranged on two top support rods 4 that are parallel to each other, and the door slides are parallel to each other.

[0102] The door slide rail is in the shape of a dovetail block. Four door slide rails are provided. The door slide rails are embedded in the door slide groove one by one, and the door slide rails cooperate with the door slide groove.

[0103] The door panel 37 is rectangular, and is provided with two doors, which are respectively provided on the door rails at both ends. When the two door panels 37 slide inward along the door slots through the door rails, the top surface of the automatic charging hangar for drones can be sealed, which can be waterproof, windproof and dustproof, and provide a safe environment for automatic charging of drones.

[0104] The door power part includes a rack, a gear and a servo motor. The rack is arranged on the door plate 37, the servo motor is arranged on the top support rod 4, and the gear is arranged on the servo motor.

[0105] There are two racks, which are fixedly arranged one by one on the lower surface of the door panel 37, and the racks are parallel to the door slide rail. There are two servo motors, which are fixedly arranged one by one on the top support rod 4 below the racks. There are two gears, which are fixedly arranged one by one on the rotating shaft of the servo motors, and the gears are meshed with the racks.

[0106] The working principle of the UAV automatic charging hangar is:

[0107] 1) When the UAV 40 runs out of battery power while performing a mission, it automatically returns to the smart hangar or searches for a nearby smart hangar to replace the battery;

[0108] 2) After the drone 40 arrives near the drone automatic charging hangar, the flight control system gives a command to control the servo motor to start opening the hangar door panel 37. At the same time, the lifting platform 41 rises and is flush with the auxiliary platform 28, forming a top landing pad together;

[0109] 3) After landing is completed, the power of the UAV 40 is stopped, and the UAV 40 is moved from the initial landing point to the elevator platform 41, and a signal is given to the elevator after completion;

[0110] 4) The lifting platform 41 and the drone 40 are lowered to the bottom together, and a signal is given to the battery replacement part and the warehouse door part after they are in place;

[0111] 5) The servo motor starts and closes the door panel 37; at the same time, the loading and unloading hand 21 removes the low-power battery from the drone 40, puts it on the battery charging station 7 for charging, and then installs the other fully charged batteries on the battery charging station 7 on the drone 40; after the installation is completed, it returns to the original position and gives a signal to the door unit and the elevator 6;

[0112] 6) The door panel 37 is opened, the lift platform 41 is raised, and the UAV 40 is lifted to the landing position. After completion, a signal is given to the lift stop platform and the UAV 40.

[0113] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes, and they can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the illustrations shown and described herein.

Claims

1. An automatic charging hangar for drones, characterized in that: include: A hangar shell, the hangar shell comprising a support rod, a support column (1), a support fixing rod (2) and a closed shell, the support column (1) and the support fixing rod (2) being both arranged on the support rod, and the closed shell being arranged on the support rod and the support column (1); the support rod, the support column (1) and the support fixing rod (2) being connected to each other by using angle key grooves; a battery replacement unit, the battery replacement unit being arranged on the hangar shell, the battery replacement unit comprising an elevator (6) and a battery loading and unloading unit, the elevator (6) and the battery loading and unloading unit both being arranged on the supporting fixing rod (2); A centering portion, the centering portion is arranged on the hangar shell, the centering portion comprises a longitudinal centering portion and a transverse centering portion, the longitudinal centering portion is arranged on the support rod, and the transverse centering portion is arranged on the longitudinal centering portion; A door portion, the door portion being arranged on the hangar shell, the door portion comprising a door slide, a door slide rail, a door plate (37) and a door power part, the door slide and the door power part being arranged on the support rod, the door slide rail being arranged on the door slide, and the door plate (37) being arranged on the door slide rail; The battery loading and unloading section comprises a battery charging platform (7) and a loading and unloading robot, and the loading and unloading robot comprises a supporting column (8), a first sliding member, a second sliding member and a robot arm; the longitudinal centering section comprises a first longitudinal slide rail (22), a second longitudinal slide rail (23), a third motor (24), a third transmission belt (25), a third sliding seat (26), a first centering rod (27) and an auxiliary platform (28), the first longitudinal slide rail (22) and the second longitudinal slide rail (23) are both arranged on the supporting column (8), the third motor (24) is arranged on the first longitudinal slide rail (22), the third transmission belt (25) is arranged on the third motor (24), the third sliding seat (26) is arranged on the third transmission belt (25), the first centering rod (27) is arranged on the third sliding seat (26), and the auxiliary platform (28) is arranged on the second longitudinal slide rail (23); The first longitudinal slide rail (22) is horizontally fixedly arranged on the supporting column (8) on one longitudinal side, and the second longitudinal slide rail (23) is horizontally fixedly arranged on the supporting column (8) on the other longitudinal side; the third motor (24) is fixedly arranged on the side wall of one end of the first longitudinal slide rail (22) through a first fixing seat (42), and the third motor (24) is a pneumatic motor; A third driving wheel (43) is fixedly connected to the rotating shaft of the third motor (24), and the third driving wheel (43) is located in the groove of the first fixing seat (42); a third driven wheel is arranged on the side wall of the other end of the first longitudinal slide rail (22); the third transmission belt (25) is arranged on the third driving wheel (43) and the third driven wheel; The third sliding seat (26) is groove-shaped, and at least four third sliding seats (26) are provided, wherein half of the third sliding seats (26) are respectively buckled at two ends of the first longitudinal slide rail (22), and the other half of the third sliding seats (26) are respectively buckled at two ends of the second longitudinal slide rail (23); the third sliding seat (26) can slide on the first longitudinal slide rail (22) and the second longitudinal slide rail (23); The first centering rod (27) is rod-shaped, and both ends of the first centering rod (27) are respectively fixedly arranged on the third sliding seat (26) on the first longitudinal slide rail (22) and the second longitudinal slide rail (23); a plurality of the first centering rods (27) are provided, and the plurality of the first centering rods (27) are respectively and correspondingly arranged on the third sliding seat (26) located at the same end, and the first centering rods (27) are parallel to each other; The third sliding seats (26) at both ends of the first longitudinal slide rail (22) are respectively connected to the third transmission belt (25) on the upper side of the third driving wheel (43) and the third transmission belt (25) on the lower side of the third driving wheel (43) through first connecting plates (38); The auxiliary platform (28) is plate-shaped, and a rectangular through hole is provided at the center of the auxiliary platform (28). The size of the rectangular through hole is larger than the size of the elevator platform (41). After the elevator (6) is raised, the elevator platform (41) can be inserted into the rectangular through hole to be flush with the auxiliary platform (28).

2. The automatic charging hangar for unmanned aerial vehicles according to claim 1 is characterized in that: The support rod comprises a bottom support rod (3) and a top support rod (4), wherein a plurality of bottom support rods (3) are provided, and the bottom support rods (3) are fixedly connected end to end; a plurality of support columns (1) are provided, and the support columns (1) are evenly and vertically fixedly arranged on the bottom support rod (3); a plurality of top support rods (4) are provided, and the top support rods (4) are fixedly connected end to end, and the top support rod (4) is fixedly arranged on the support column (1); a plurality of support fixing rods (2) are provided, and the plurality of support fixing rods (2) are fixedly arranged on the bottom support rod (3); The enclosed shell comprises an outer plate and a swing door (5), wherein the outer plate is arranged on the support rod and the support column (1), and the swing door (5) is arranged on the support column (1); the outer plate is provided with a plurality of pieces, wherein the outer plate is fixedly arranged on the side surface formed by the bottom support rod (3) and the support column (1); and the swing door (5) is fixedly arranged on one side surface formed by the support column (1).

3. The automatic charging hangar for unmanned aerial vehicles according to claim 1 or 2, characterized in that: The lift (6) is a scissor-fork lift, and the lift (6) is fixedly arranged on the support fixing rod (2); the battery charging platform (7) and the loading and unloading robot are both arranged on the support fixing rod (2); and a lithium battery cell is arranged inside the battery charging platform (7).

4. The automatic charging hangar for unmanned aerial vehicles according to claim 3 is characterized in that: The first sliding member is arranged on the supporting column (8), the second sliding member is arranged on the first sliding member, and the mechanical arm is arranged on the second sliding member; the supporting column (8) is columnar, and the supporting column (8) is vertically fixed on the supporting fixing rod (2); the first sliding member comprises a first sliding groove (9), a first sliding rail (10), a first motor (11), a first transmission belt (12) and a first sliding seat (13); the first sliding groove (9) is arranged on the supporting column (8), the first sliding rail (10) and the first motor (11) are both arranged on the first sliding groove (9), the first transmission belt (12) is arranged on the first motor (11), and the first sliding seat (13) is arranged on the first transmission belt (12).

5. The automatic charging hangar for unmanned aerial vehicles according to claim 4 is characterized in that: The first slide groove (9) is in the shape of a U-shaped groove, the length of the first slide groove (9) is greater than the length of the elevator platform (41), and the first slide groove (9) is fixedly arranged on the supporting column (8) along the longitudinal direction of the automatic charging hangar of the unmanned aerial vehicle; The first motor (11) is fixedly arranged on a side wall at one end of the first slide groove (9), and the first motor (11) is a pneumatic motor; a first driving wheel is arranged at one end of the first slide groove (9), and the first driving wheel is fixedly connected to the rotating shaft of the first motor (11), and a first driven wheel is arranged at the other end of the first slide groove (9); the first transmission belt (12) is arranged on the first driving wheel and the first driven wheel; The first slide rail (10) is generally plate-shaped, one end of the first slide rail (10) is fixedly arranged on one end of the first slide groove (9), and the first slide rail (10) is parallel to the first slide groove (9); the first sliding seat (13) is groove-shaped, the bottom surface of the first sliding seat (13) is fixedly arranged on the first transmission belt (12), and the first sliding seat (13) is buckled on the outside of the first slide rail (10), so that the first sliding seat (13) can move relatively along the first slide rail (10).

6. The automatic charging hangar for unmanned aerial vehicles according to claim 4 is characterized in that: The second sliding member comprises a second sliding groove (14), a second sliding rail, a second motor (16), a second transmission belt and a second sliding seat (18), the second sliding groove (14) is arranged on the first sliding seat (13), the second sliding rail and the second motor (16) are both arranged on the second sliding groove (14), the second transmission belt is arranged on the second motor (16), and the second sliding seat (18) is arranged on the second transmission belt; The second slide groove (14) is in the shape of a U-shaped groove, the length of the second slide groove (14) is greater than the width of the elevator platform (41), and the second slide groove (14) is fixedly arranged on the first sliding seat (13) along the horizontal direction of the automatic charging hangar of the unmanned aerial vehicle; The second motor (16) is fixedly arranged on a side wall at one end of the second slide groove (14), and the second motor (16) is a pneumatic motor; a second driving wheel is arranged at one end of the second slide groove (14), and the second driving wheel is fixedly connected to the rotating shaft of the second motor (16); a second driven wheel is arranged at the other end of the second slide groove (14); and the second transmission belt is arranged on the second driving wheel and the second driven wheel; The second slide rail has the same structure as the first slide rail (10), one end of the second slide rail is fixedly arranged on one end of the second slide groove (14), and the second slide rail is parallel to the second slide groove (14); the second sliding seat (18) has the same structure as the first sliding seat (13), the bottom surface of the second sliding seat (18) is fixedly arranged on the second transmission belt, and the second sliding seat (18) is buckled on the outside of the second slide rail, so that the second sliding seat (18) can move relatively along the second slide rail.

7. The automatic charging hangar for unmanned aerial vehicles according to claim 6 is characterized in that: The mechanical arm comprises an arm seat (19), a motor, a screw rod, a spline and a loading and unloading hand (21), wherein the arm seat (19) is arranged on the second sliding seat (18), the motor is arranged on the arm seat (19), the screw rod is arranged on the motor, the spline is arranged on the screw rod, and the loading and unloading hand (21) is arranged on the spline; The arm seat (19) is in a right-angled shape, one right-angled side of the arm seat (19) is fixedly arranged on the second sliding seat (18), and the other right-angled side of the arm seat (19) is in a groove shape; the motor is vertically arranged at the corner of the arm seat (19), the screw rod is fixedly connected to the rotating shaft of the motor, and the screw rod is located in the other right-angled side groove of the arm seat (19); the spline is sleeved on the screw rod, and the spline cooperates with the screw rod; the loading and unloading hand (21) is vertically arranged on the spline, and the loading and unloading hand (21) has a visual positioning function, can automatically identify the position of the drone battery, and can realize automatic loading and unloading of the drone battery.

8. The automatic charging hangar for unmanned aerial vehicles according to claim 6, characterized in that: The transverse centering portion comprises a first transverse slide rail (29), a second transverse slide rail, a fourth motor (31), a fourth transmission belt, a fourth sliding seat and a second centering rod (34); the first transverse slide rail (29) and the second transverse slide rail are both arranged on the first longitudinal slide rail (22); the fourth motor (31) is arranged on the first transverse slide rail (29); the fourth transmission belt is arranged on the fourth motor (31); the fourth sliding seat is arranged on the fourth transmission belt; and the second centering rod (34) is arranged on the fourth sliding seat; The first transverse slide rail (29) is horizontally fixedly arranged at one end of the first longitudinal slide rail (22), and the second transverse slide rail is horizontally fixedly arranged at the other end of the first longitudinal slide rail (22); the fourth motor (31) is fixedly arranged on the side wall of one end of the first transverse slide rail (29) through a second fixing seat, the fourth motor (31) is a pneumatic motor, and the second fixing seat is groove-shaped; A fourth driving wheel is fixedly connected to the rotating shaft of the fourth motor (31), the fourth driving wheel is located in the second fixed seat groove, and a fourth driven wheel is arranged on the side wall of the other end of the first transverse slide rail (29); the fourth transmission belt is arranged on the fourth driving wheel and the fourth driven wheel; The fourth sliding seat is in the shape of a groove, and a plurality of the fourth sliding seats are provided, wherein half of the fourth sliding seats are respectively buckled at two ends of the first transverse sliding rail (29), and the other half of the fourth sliding seats are respectively buckled at two ends of the second transverse sliding rail, and the fourth sliding seats can slide on the first transverse sliding rail (29) and the second transverse sliding rail; The second centering rod (34) is rod-shaped, and the two ends of the second centering rod (34) are respectively fixedly arranged on the first transverse slide rail (29) and the fourth sliding seat on the second transverse slide rail; a plurality of second centering rods (34) are provided, and the plurality of second centering rods (34) are respectively and correspondingly arranged on the fourth sliding seat at the same end, and the second centering rods (34) are parallel to each other; The fourth sliding seats at both ends of the first transverse sliding rail (29) are respectively connected to the third transmission belt (25) on the upper side of the fourth driving wheel and the third transmission belt (25) on the lower side of the fourth driving wheel through second connecting plates (39).

9. The automatic charging hangar for unmanned aerial vehicles according to claim 2, characterized in that: The door slide is in the shape of a dovetail groove, the door slide is provided with multiple sections, the door slide is evenly arranged on two mutually parallel top support rods (4), and the door slides are parallel to each other; The door slide rail is in the shape of a dovetail block, and four door slide rails are provided. The door slide rails are respectively embedded in the door slide groove, and the door slide rails cooperate with the door slide groove; The door panel (37) is rectangular and has two panels. The door panels (37) are respectively fixedly arranged on the door slide rails at both ends. The door power part comprises a rack, a gear and a servo motor. The rack is arranged on the door panel (37), the servo motor is arranged on the top support rod (4), and the gear is arranged on the servo motor. A plurality of racks are arranged. The racks are fixedly arranged on the lower surface of the door panel (37) one by one, and the racks are parallel to the door slide rail. A plurality of servo motors are arranged. The servo motors are fixedly arranged on the top support rod (4) below the racks one by one. The number of gears is the same as the number of servo motors. The gears are arranged on the rotating shafts of the servo motors one by one, and the gears are meshed with the racks.

Images