Battery-changing grippers and fixed electric fully automatic vertical take-off fixed-wing airport

Abstract

The present invention relates to a fixed-wing aircraft, and discloses a battery-exchange clamp and a fixed-type electric fully automatic vertical take-off fixed-wing aircraft. The battery-exchange clamp includes a clamp body disposed within the fixed-type electric fully automatic vertical take-off fixed-wing aircraft. The clamp body includes a pressure rod capable of moving in the vertical direction and pressing the upper end surface of a battery on a drone, and also includes a clamping plate capable of relative movement in the horizontal direction and clamping both sides of the battery on the drone. The present invention achieves stable clamping of the drone battery through the compression of the pressure rod and the clamping of the clamping plate, thereby providing a prerequisite for subsequent replacement of the drone battery.

Description

Technical Field

[0001] The present invention relates to a fixed electric fully automatic vertical take-off fixed-wing airport, and in particular to a battery-changing clamp and a fixed electric fully automatic vertical take-off fixed-wing airport. Background Art

[0002] Based on the flight principle and structure of drones, they can be roughly divided into multi-rotor drones and fixed-wing drones. Fixed-wing drones have a great advantage in the field of drones due to their structural advantages and flight principles.

[0003] In order to avoid the impact of ground effect on drones during takeoff and landing, existing technologies have designed special airports for accommodating vertical take-off and landing fixed-wing drones. After the drones enter the airport, they can be charged or replaced with batteries. However, the technology for replacing batteries for drones needs to be further improved. Summary of the Invention

[0004] The present invention aims to solve the problems existing in the prior art of fixed electric fully automatic vertical take-off fixed-wing airport and provides a battery-changing clamp and a fixed electric fully automatic vertical take-off fixed-wing airport.

[0005] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0006] The battery-exchanging clamp includes a clamp body arranged in a fixed electric fully automatic vertical take-off fixed-wing airport. The clamp body includes a pressure rod that can move in the vertical direction and press the upper end surface of the battery on the drone, and also includes a clamping plate that can move relatively in the horizontal direction and clamp both sides of the battery on the drone.

[0007] Preferably, the clamp body includes a horizontally arranged clamp mounting plate, the upper end of the clamping plate constitutes a connecting end mounted on the clamp mounting plate, and the lower end constitutes a clamping end for clamping the battery. A clamping plate driving mechanism installed on the lower surface of the clamp mounting plate is provided between the two clamping plates. The two clamping plates are respectively installed on both sides of the clamping plate driving mechanism and the clamping plate driving mechanism is used to realize the two clamping plates moving toward or away from each other in the horizontal direction.

[0008] Preferably, both clamping plates are provided with locating pins on their clamping ends and on their opposing surfaces, and battery locating holes are provided on the sides of the drone's batteries for the locating pins to insert. The cooperation between the locating pins and the battery locating holes enables the clamping plates to position the batteries, ensuring accurate and stable battery clamping.

[0009] Preferably, a clamping plate slide rail is provided on the lower surface of the clamping jaw mounting plate, arranged horizontally and extending in the lengthwise direction of the clamping plate's movement. The upper end of the clamping plate is connected to the clamping plate slide rail, and the clamping plate can slide on the clamping plate slide rail along the lengthwise direction of the clamping plate and be limited in position along the lengthwise direction of the clamping plate. The provision of the clamping plate slide rail can guide the movement of the clamping plate, ensuring that the clamping plate applies horizontal force to the battery, effectively improving the stability of battery clamping.

[0010] Preferably, both sides of the clamping plate slide rail are provided with elongated slide rail limiting grooves extending along the length of the clamping plate slide rail. A clamping plate slider is provided at the upper end of the clamping plate to engage with the clamping plate slide rail, and a slider limiting protrusion is provided on the inner side of the clamping plate slider to engage with the slide rail limiting groove. The cooperation between the slider limiting protrusion and the slide rail limiting groove ensures the stability of the connection between the clamping plate and the slide rail, preventing the clamping plate from vertically separating from the slide rail.

[0011] Preferably, the clamping plate driving mechanism is a bidirectional screw motor, and the two clamping plates are respectively connected to the driving shafts on both sides of the bidirectional screw motor.

[0012] Preferably, a pressure rod mounting assembly is provided on the clamping jaw mounting plate. The pressure rod mounting assembly includes a pressure rod linear bearing mounted on the clamping jaw mounting plate. The pressure rod is slidably disposed within the pressure rod linear bearing. The pressure rod mounting assembly also includes a spring extrusion member disposed at the lower end of the pressure rod. A pressure rod spring is disposed between the spring extrusion member and the pressure rod linear bearing. The spring extrusion member is sleeved on the pressure rod and is capable of pressing the pressure rod downward. Under the action of the pressure rod spring, the pressure rod can be stably pressed against the upper end surface of the battery, ensuring stability during the battery clamping process.

[0013] Preferably, the outer wall of the lower end of the compression rod is provided with an external thread, and the spring extrusion member is an adjustment nut threadedly connected to the lower end of the compression rod, and the lower end of the compression rod spring is tightly pressed against the adjustment nut. The spring extrusion member is threadedly connected to the compression rod, thereby enabling adjustment of the elastic force of the compression rod spring, so that the compression rod can compress batteries of different thicknesses.

[0014] Preferably, two pressure rods are provided, each capable of compressing the battery at both ends along its length. The upper ends of the pressure rods are capable of moving above the clamping jaw mounting plate. The pressure rod mounting assembly further includes a pressure rod limit plate connected between the upper ends of the two pressure rods, the pressure rod limit plate being disposed above the clamping jaw mounting plate. The pressure rod limit plate can limit the axial position of the pressure rod and ensure synchronous movement of the pressure rods at both ends, so that the pressure rods at both ends apply uniform force to the battery, thereby ensuring stable compression of the battery.

[0015] Preferably, the device further includes a clamp positioning assembly, which includes a positioning column 619 provided on the drone, and a guide rod provided on the clamp mounting plate and capable of moving up and down in the vertical direction. The lower end of the guide rod is provided with a positioning block, and the positioning block is provided with a clamp positioning hole that cooperates with the positioning column on the drone. The cooperation between the clamp positioning hole on the positioning block and the positioning column on the drone can ensure the accuracy of the battery-swap clamp in gripping the battery, ensure the uniformity of the force applied to the battery by the pressure rods at both ends and the clamping plates on both sides, and ensure the accuracy of the final placement of the battery into the charging compartment.

[0016] Preferably, the jaw positioning assembly includes a positioning linear bearing mounted on the lower surface of the jaw mounting plate, a guide rod slidably disposed within the positioning linear bearing, an upper end of the guide rod capable of moving above the jaw mounting plate and provided with a stop flange, and a positioning return spring sleeved on the guide rod and disposed between the positioning block and the positioning linear bearing. The positioning return spring serves to reset the guide rod when not in operation and to provide pressure when the positioning block is in a positioned state, thereby ensuring that the positioning block is stably positioned in the desired position.

[0017] A fixed electric fully automatic vertical take-off fixed-wing airport, which includes the aforementioned battery-changing clamp.

[0018] The present invention has significant technical effects due to the adoption of the above technical solutions:

[0019] The present invention can achieve stable clamping of the drone battery through the compression of the pressure rod and the clamping of the clamping plate, thereby providing a prerequisite guarantee for the subsequent replacement of the drone battery. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural diagram of embodiment 1 of the present invention.

[0021] Figure 2 yes Figure 1 Exploded diagram.

[0022] Figure 3 yes Figure 1 Schematic diagram of the structure of the middle front door mechanism in the open state.

[0023] Figure 4 yes Figure 1 Schematic diagram of the internal structure.

[0024] Figure 5 It is a structural diagram of the front door mechanism in the present invention.

[0025] Figure 6 It is a structural diagram of another state of the front door mechanism in the present invention.

[0026] Figure 7 yes Figure 4Schematic diagram of the connection structure between the central apron and the multi-stage telescopic guide rail mechanism.

[0027] Figure 8 yes Figure 7 Schematic diagram of the structure of the middle apron.

[0028] Figure 9 yes Figure 8 Schematic diagram of the structure of the UAV's centering mechanism.

[0029] Figure 10 yes Figure 7 Structural diagram of the multi-stage telescopic guide mechanism in the retracted state.

[0030] Figure 11 yes Figure 7 Structural diagram of the multi-stage telescopic guide mechanism in the expanded state.

[0031] Figure 12 yes Figure 7 Schematic diagram of the structure of the power exchange mechanism at the airport.

[0032] Figure 13 yes Figure 12 Schematic diagram of the battery-swapping gripper gripping the battery.

[0033] Figure 14 yes Figure 13 Schematic diagram of the structure of the battery-swap gripper.

[0034] Figure 15 yes Figure 14 sectional view of .

[0035] Figure 16 yes Figure 4 Schematic diagram of the battery structure.

[0036] Figure 17 yes Figure 16 Schematic diagram of part of the structure.

[0037] Figure 18 yes Figure 17 Schematic diagram of the cross-section structure.

[0038] Figure 19 yes Figure 16 Schematic diagram of the structure of the movable lock.

[0039] Figure 20 Schematic diagram of the structure of the battery compartment of the drone in this embodiment.

[0040] Figure 21 Schematic diagram of the state in which the pressure plate presses down the drone in this embodiment.

[0041] Figure 22 It is a schematic diagram of the partial structure of the multi-stage telescopic guide rail mechanism in this embodiment.

[0042] Figure 23 yes Figure 1 Schematic diagram of the camera structure.

[0043] Figure 24 yes Figure 1 Schematic diagram of the structure of the camera bracket. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0045] Example 1

[0046] Fixed electric fully automatic vertical take-off fixed-wing airport, such as Figure 1-Figure 24 As shown, it includes an airport body, and an airport door is provided on one side of the airport body. The airport door includes a front door mechanism 1, and the front door mechanism 1 includes a door body 101. The door body 101 is connected to the airport body through a connecting rod mechanism 102 and can be swung upward and opened under the action of the connecting rod mechanism 102; an apron body 2 is provided in the airport body, which can be horizontally moved out from the door body 101, and the apron body 2 is arranged in the airport body through a multi-stage telescopic guide rail mechanism 3.

[0047] In this embodiment, the front door mechanism 1 includes a door frame 103 arranged on the front side of the fixed electric fully automatic vertical take-off fixed-wing airport frame. A door body 101 is provided at the door frame 103 through a connecting rod mechanism 102. The door body 101 swings upward to open and swings downward to close through the connecting rod mechanism 102.

[0048] The linkage mechanism 102 includes a drive rod 104, both ends of which are rotatably connected to the fixed electric fully automatic vertical take-off fixed-wing airport frame. A bearing seat 112 is provided at the end of the drive rod 104. Bearing seat 112 houses a bearing connected to the drive rod 104. The drive rod 104 is mounted on the fixed electric fully automatic vertical take-off fixed-wing airport frame via bearing seat 112. Bearing seat 112 is attached to the upper end of the fixed electric fully automatic vertical take-off fixed-wing airport frame via bolts or screws. A connecting rod 105 is hingedly connected to each end of the drive rod 104. One end of the connecting rod 105 is hinged to the end of the drive rod 104, and the other end is hinged to the door body 101. The connecting rod 105 is a curved rod that bends away from the door body 101 when the door body 101 is closed. When the door body 101 is closed, the end of the connecting rod 105 hinged to the drive rod 104 is above the end hinged to the door body 101.

[0049] This embodiment also includes a front door driving mechanism 107, which includes a front door driving motor 108 for rotating the driving rod 104.

[0050] The front door drive motor 108 is installed on the fixed electric fully automatic vertical take-off fixed-wing airport frame. A front door drive gear 109 is installed on the drive shaft of the front door drive motor 108, and a front door driven gear 110 engaged with the drive gear is provided on the drive rod 104.

[0051] When opening the door, the front door drive motor 108 is started, and the front door driven gear 110 is driven by the front door drive gear 109. The front door driven gear 110 drives the drive rod 104 to rotate. After the drive rod 104 rotates, it drives the connecting rods 105 at both ends to rotate counterclockwise. At this time, the connecting rod 105 can push the door body 101 outward and drive the door body 101 upward at the same time, so as to realize the upward swing of the door body 101 until the door body 101 moves to the top of the fixed electric fully automatic vertical fixed-wing airport frame, so as to realize the full opening of the door body 101. At this time, the end of the connecting rod 105 hinged to the drive rod 104 is below the end hinged to the door body 101.

[0052] When closing the door, the front door drive motor 108 reverses, causing the connecting rod 105 to rotate clockwise, and the connecting rod 105 drives the door body 101 to move downward and toward the door frame 103 until the door body 101 is completely in the door frame 103, thereby closing the door body 101.

[0053] In this embodiment, the connecting rod mechanism 102 further includes a connecting rod 111 having one end hinged to the fixed electric fully automatic vertical take-off fixed-wing airport frame and the other end hinged to the door body 101. The hinge point between the connecting rod 111 and the door body 101 is located below the hinge point between the connecting rod 105 and the door body 101. The provision of the connecting rod can further enhance the stability of the door body 101 when it is closed, covering the door frame 103. When the door body 101 is open, it provides further support for the door body 101, effectively strengthening the stability of the connection between the door body 101 and the fixed electric fully automatic vertical take-off fixed-wing airport frame.

[0054] In this embodiment, a sealing strip is provided between the door frame 103 and the door body 101 to seal the gap between the door body 101 and the door frame 103. The provision of the sealing strip can achieve a waterproof effect at the door body 101, preventing rainwater from entering the interior of the airport through the opening and closing of the door body 101.

[0055] In this embodiment, the door body 101 is arranged on the front side of the fixed electric fully automatic vertical take-off fixed-wing airport frame, and the opening and closing of the door body 101 is realized by means of a connecting rod 105. The door body 101 is on the airport side, and foreign objects such as leaves or snow will not gather on the outer surface of the door. The problem of foreign objects being carried into the interior of the cabinet by the opening and closing door can be effectively solved during the opening and closing process. At the same time, the entire door body 101 is only on the front side. Whether it is the door body 101 itself or the stroke required for opening and closing the door body 101, the space they occupy is relatively small, which can greatly save space. At the same time, it also has the characteristics of relatively simple overall production and assembly.

[0056] In this embodiment, the airport is provided with an apron body 2 that can be moved horizontally from the airport gate. The apron body 2 includes an apron base 201 in the shape of a square frame. An apron bottom plate 202 is provided in the middle of the apron base 201. The apron base 201 is provided with a drone centering mechanism 203. The drone centering mechanism 203 includes a horizontal push rod mechanism 204 and a longitudinal push rod mechanism 205 that can push the drone to the center position of the apron body 2.

[0057] In this embodiment, the transverse push rod mechanism 204 includes two transverse push rods 206 arranged along the length direction of the apron body 2 and capable of moving toward or away from each other along the width direction of the apron body 2; the longitudinal push rod mechanism 205 includes two longitudinal push rods 207 arranged along the width direction of the apron body 2 and capable of moving toward or away from each other along the length direction of the apron body 2; and two groups of push rod driving mechanisms for respectively driving the transverse push rods 206 and the longitudinal push rods 207 to move. The push rod driving mechanism includes two relatively parallel driving mechanisms. The rod assembly 208, the two ends of the transverse push rod 206 or the longitudinal push rod 207 are respectively connected to the corresponding two side drive rod assemblies 208, the drive rod assembly 208 includes a push rod driving wheel 209 and a left-hand screw rod 210 and a right-hand screw rod 211 arranged on both sides of the push rod driving wheel 209 and connected by a coupling, the two transverse push rods 206 or longitudinal push rods 207 moving in opposite directions or opposite directions are respectively threadedly connected to the left-hand screw rod 210 and the right-hand screw rod 211, wherein the left-hand screw rod 210 and the right-hand screw rod 211 are trapezoidal screw rods or ball screws.

[0058] Under the action of the push rod drive mechanism, the horizontal push rod 206 and the longitudinal push rod 207 are moved, thereby pushing the drone that has landed on the apron floor 202 to the desired position. The control system controls the rotation of the left-hand screw rod 210 and the right-hand screw rod 211, and then accurately controls the push rod to push the drone's travel, ensuring that the drone can be accurately positioned.

[0059] In this embodiment, the push rod drive mechanism includes a push rod drive motor 212, and a driving rotating shaft 213 is connected to the motor shaft of the push rod drive motor 212. The driving rotating shaft 213 is provided with two driving synchronous wheels 214. It also includes a driven rotating shaft 215. The driven rotating shaft 215 is provided with two driven synchronous wheels 216. One of the driving synchronous wheels 214 and the driven synchronous wheel 216 is respectively connected to the push rod drive wheels 209 on the driving rod assemblies 208 on both sides through a synchronous belt, and the other driving synchronous wheel 214 is connected to the other driven synchronous wheel 216 through another synchronous belt.

[0060] For the stability and reliability of transmission, a linkage synchronous wheel 217 is provided between the two active synchronous wheels 214 on the active rotating shaft 213 , and the motor shaft of the push rod driving motor 212 is connected to the linkage synchronous wheel 217 via a synchronous belt.

[0061] In this embodiment, a push rod driving motor 212 is used to achieve synchronous movement of the push rods on both sides in the same direction, which improves the efficiency of the drone centering process, saves costs, and avoids waste of resources. At the same time, compared with the dual-motor drive, this single-motor drive method can effectively simplify the synchronous control system program.

[0062] In this embodiment, the push rod drive mechanism also includes two screw rod mounting seats 218 for mounting the left-hand screw rod 210 and the right-hand screw rod 211. The screw rod mounting seat 218 includes two oppositely arranged screw rod mounting plates 219. The two ends of the left-hand screw rod 210 or the right-hand screw rod 211 are respectively rotatably connected to the two screw rod mounting plates 219. A horizontally arranged guide plate 220 is connected between the two screw rod mounting plates 219. A push rod slide rail 221 is provided on the upper end surface of the guide plate 220. The end of the transverse push rod 206 or the longitudinal push rod 207 is provided with a threaded connection seat 222 connected to the left-hand screw rod 210 or the right-hand screw rod 211. The bottom of the threaded connection seat 222 is provided with a push rod slider 223 that can slide on the push rod slide rail 221. The lower end surface of the push rod slider 223 is provided with a push rod slide groove 224 that cooperates with the push rod slide rail 221. The arrangement of the push rod sliding groove 224 and the push rod sliding block 223 can guide the movement of the transverse push rod 206 or the longitudinal push rod 207 and can make the movement of the transverse push rod 206 or the longitudinal push rod 207 more stable and smooth.

[0063] In this embodiment, a push frame 225 having a longitudinally extending push surface is provided in the middle of the transverse push rod 206 or the longitudinal push rod 207. The push frame 225 includes two transverse connecting rods 226 connected to the transverse push rod 206 or the longitudinal push rod 207. A U-shaped frame 227 with a downward opening is connected to the two transverse connecting rods 226. The end surface of the U-shaped frame 227 facing the center of the apron body 2 forms the longitudinally extending push surface. The provision of the push frame 225 provides a longitudinal push surface, enabling the push rod to better propel the drone.

[0064] In addition, the push frame 225 is provided with a pressure plate 230 for limiting the drone and a pressure plate motor 231 for driving the pressure plate 230 to rotate. The pressure plate motor 231 is a DC motor. The pressure plate 230 is L-shaped, one end of which is connected to the motor shaft of the pressure plate motor 231, and the other end constitutes a limiting end for the drone. After the drone is positioned, the DC motor rotates to drive the pressure plate 230 to press the drone to ensure that the drone will not shift when the battery 6 is removed.

[0065] In this embodiment, the helipad floor 202 is a light-transmitting plate with a light panel 228 on its lower surface, ensuring normal drone landing at night. Furthermore, a QR code panel 229 is provided on its upper surface. This QR code panel 229 contains a QR code, allowing drones to locate and land by scanning the QR code.

[0066] In this embodiment, the apron body 2 is arranged in the airport body through a multi-stage telescopic guide rail mechanism 3, and the apron body 2 can be pushed out of the airport body through the door body 101 in a horizontal straight line under the action of the multi-stage telescopic guide rail mechanism 3.

[0067] The multi-stage telescopic guide rail mechanism 3 in this embodiment includes a guide rail fixing seat 301. In this embodiment, the guide rail fixing seat 301 is fixedly installed in a fixed electric fully automatic vertical take-off fixed-wing airport frame, and its relative position in the airport remains unchanged. Specifically, in this embodiment, the guide rail fixing seat 301 can be directly fixed to the lower bottom surface of the airport frame by bolts. The guide rail fixing seat 301 includes a fixing seat body 320, and a first-level guide rail slide seat 304 is arranged on the fixing seat body 320. The guide rail fixing seat 301 also includes two first fixing plates 321 fixed relative to the fixing seat body 320. The two first fixing plates 321 are respectively arranged at the two ends of the movement direction of the apron body 2. When the apron body 2 is fully retracted into the airport, the two first fixing plates 321 are respectively located at the two ends of the apron body 2.

[0068] A primary guide rail 302 capable of horizontal linear movement is provided on the guide rail fixing seat 301, and a secondary guide rail 303 capable of horizontal linear movement is provided on the primary guide rail 302. The primary guide rail 302 and the secondary guide rail 303 have the same movement direction, and the apron body 2 is arranged on the secondary guide rail 303. The apron body 2 can achieve two-stage extension and retraction under the joint action of the primary guide rail 302 and the secondary guide rail 303, thereby solving the problem that the apron body 2 extends a short distance from the airport due to the limited overall length of the airport and the inability to install longer guide rails. In the end, the apron can be extended to a longer distance, ensuring that the fixed-wing will not be blocked or interfered with by the airport structure during takeoff and landing.

[0069] Specifically, in this embodiment, a first-level guide rail slide seat 304 is provided on the guide rail fixing seat 301, and a first-level guide rail slide 305 is provided on the upper end surface of the first-level guide rail slide seat 304. The first-level guide rail 302 includes a first-level movable plate 306, and a first-level guide rail slider 307 capable of sliding in the first-level guide rail slide 305 is provided on the lower end surface of the first-level movable plate 306; a second-level guide rail slide seat 308 is provided on the upper end surface of the first-level movable plate 306, and a second-level guide rail slide seat 308 is provided on the upper end surface of the second-level guide rail slide seat 308, and a second-level guide rail slide 309 is provided on the lower end surface of the second-level guide rail 303. A second-level guide rail slider 310 capable of sliding in the second-level guide rail slide 309 is provided on the lower end surface of the secondary guide rail 303, and the lower end surface of the apron body 2 is fixed on the upper end surface of the secondary guide rail 303.

[0070] The lower end surface of the primary movable plate 306 is provided with a guide rail rack 311, the longitudinal direction of which is arranged along the movement direction of the primary guide rail 302. The plate also includes a guide rail drive motor 312. A guide rail gear 313 is connected to the drive shaft of the guide rail drive motor 312 and is engaged with the guide rail rack 311 to drive the movement of the primary guide rail 302. The cooperation between the guide rail gear 313 and the guide rail rack 311 enables the primary extension and retraction of the apron body 2.

[0071] In this embodiment, a specific structure of the secondary telescopic structure is given: that is, an extension mechanism for driving the secondary guide rail 303 to extend is also provided on the upper end surface of the primary movable plate 306, and the extension mechanism includes a first rotating shaft 314 arranged at the front end portion of the primary movable plate 306 in the extension direction, and a first rotatable synchronous wheel 315 is provided on the first rotating shaft 314, and a first double-sided synchronous belt 316 is engaged with the first synchronous wheel 315. The middle part of the first double-sided synchronous belt 316 passes around the first synchronous wheel 315 and engages with the first synchronous wheel 315, and both ends of the first double-sided synchronous belt 316 extend toward the rear end portion in the extension direction of the primary movable plate 306 and one end is connected to the rear end portion of the secondary guide rail 303 along the extension direction, and the other end is connected to the guide rail fixing seat 301.

[0072] A recovery mechanism for driving the secondary guide rail 303 to retract is also provided on the upper end surface of the first movable plate 306. The recovery mechanism includes a second rotating shaft arranged at the rear end of the first movable plate 306 in the extending direction. The second rotating shaft is provided with a rotatable second synchronous wheel 318. The second synchronous wheel 318 is engaged with a second double-sided synchronous belt 319. The middle part of the second double-sided synchronous belt 319 passes around the second synchronous wheel 318 and engages with the second synchronous wheel 318. Both ends of the second double-sided synchronous belt 319 extend toward the front end in the extending direction of the first movable plate 306 and one end is connected to the front end of the secondary guide rail 303 along the extending direction, and the other end is connected to the guide rail fixing seat 301.

[0073] The ends of the first double-sided synchronous belt 316 and the second double-sided synchronous belt 319 are respectively connected to the first fixed plates 321 at both ends. The front and rear ends of the secondary guide rail 303 are both provided with second fixed plates 322, and the other ends of the first double-sided synchronous belt 316 and the second double-sided synchronous belt 319 are respectively connected to the two second fixed plates 322.

[0074] The secondary telescopic mechanism in this embodiment is realized by a synchronous belt and a synchronous wheel. When the synchronous wheel moves along with the primary movable plate 306 driven by the primary movable plate 306, one end of the synchronous belt on the synchronous wheel will maintain its position due to its connection with the guide rail fixing seat 301. Since the overall length of the synchronous belt remains unchanged, the other end will drive the secondary guide rail 303 to move along with the primary guide rail 302 under the action of the synchronous wheel. The movement stroke of the synchronous belt end is twice the movement stroke of the synchronous wheel. Therefore, the secondary guide rail 303 will continue to move in the extension or retraction direction relative to the primary guide rail 302, realizing the secondary stroke of the apron, fully ensuring that the final apron body 2 can move to a position far enough relative to the airport to avoid interference with fixed-wing take-off and landing.

[0075] At the same time, the secondary telescopic movement in this embodiment is not realized by a separate drive, but is cleverly driven by the primary telescopic movement, which can effectively reduce the driving mechanism, save resources, and thus save costs.

[0076] In addition, in this embodiment, an airport battery exchange mechanism 4 is provided in the airport. The airport battery exchange mechanism 4 includes a rectangular charging pile 5, on which multiple batteries 6 are stored. It also includes a battery exchange clamp 401 capable of clamping the batteries 6 at the drone battery compartment 617 and the charging pile 5, and a clamp installation mechanism 402 for installing the battery exchange clamp 401. The clamp installation mechanism 402 is provided with a clamp driving mechanism for driving the battery exchange clamp 401 to move along the length, width and height directions of the charging pile 5.

[0077] Among them, the clamp mounting mechanism 402 includes two first guide rails 404 that are parallel to each other and arranged along the length direction of the charging pile 5. A second guide rail 405 that is perpendicular to and horizontally arranged with the first guide rail 404 is connected between the two first guide rails 404. The second guide rail 405 can slide on the first guide rail 404 along the length direction of the first guide rail 404. A third guide rail 406 that can slide along the length direction of the second guide rail 405 is connected to the second guide rail 405. The third guide rail 406 is vertically arranged in the length direction. The battery exchange clamp 401 is connected to the third guide rail 406 and can slide up and down along the third guide rail 406.

[0078] The jaw drive mechanism includes a first screw rod, a second screw rod, and a third screw rod respectively mounted on the first guide rail 404, the second guide rail 405, and the third guide rail 406. The axial directions of the first screw rod, the second screw rod, and the third screw rod are respectively the same as the axial directions of the first guide rail 404, the second guide rail 405, and the third guide rail 406.

[0079] It also includes a first servo motor, a second servo motor and a third servo motor for driving the first screw rod, the second screw rod and the third screw rod to rotate respectively. The second guide rail 405, the third guide rail 406 and the battery-changing clamp 401 are respectively provided with a first slider, a second slider and a third slider that can slide along the first guide rail 404, the second guide rail 405 and the third guide rail 406. The first slider, the second slider and the third slider are respectively threadedly connected to the first screw rod, the second screw rod and the third screw rod and can respectively move axially along the first screw rod, the second screw rod and the third screw rod.

[0080] The present embodiment provides a battery-changing clamp 401 in a fixed electric fully automatic vertical fixed-wing airport, including a clamp body 407 arranged in the fixed electric fully automatic vertical fixed-wing airport, the clamp body 407 includes a pressure rod 408 that can move in the vertical direction and press the upper end surface of the battery 6 on the drone, and also includes a clamping plate 409 that can move relatively in the horizontal direction and clamp the two sides of the battery 6 on the drone, wherein the clamp body 407 includes a horizontally arranged clamp mounting plate 410, one end of the clamp mounting plate 410 is provided with a vertically arranged slider mounting plate 411, the third slider is installed on the slider mounting plate 411, the upper end of the clamping plate 409 constitutes a connecting end mounted on the clamp mounting plate 410, and the lower end constitutes a clamping end for clamping the battery 6,

[0081] The two clamping plates 409 have locating pins 425 on their clamping ends and on their opposing surfaces. A battery locating hole 601 is provided on the side of the drone battery 6 for the locating pins 425 to insert. When the drone battery 6 is clamped, the locating pins 425 snap into the battery locating holes 601. The clamping action of the two clamping plates 409 and the pressure of the pressure rod 408 ensure a stable clamping of the battery 6.

[0082] A clamping plate driving mechanism installed on the lower surface of the clamping claw mounting plate 410 is provided between the two clamping plates 409. The two clamping plates 409 are respectively installed on both sides of the clamping plate driving mechanism and the clamping plate driving mechanism enables the two clamping plates 409 to move toward or away from each other in the horizontal direction. The clamping plate driving mechanism in this embodiment is a bidirectional screw motor. The upper end of the bidirectional screw motor is fixed to the lower surface of the clamping claw mounting plate 410 through a connecting plate (not shown in the figure). The two clamping plates 409 are respectively connected to the driving shafts on both sides of the bidirectional screw motor. Under the action of the bidirectional screw motor, the two clamping plates 409 can stably clamp the battery 6, thereby realizing the replacement of the drone battery 6.

[0083] In this embodiment, a clamping plate slide rail 426 is provided on the lower surface of the clamping claw mounting plate 410 and is arranged horizontally and along the length direction of the movement direction of the clamping plate 409. The upper end of the clamping plate 409 is connected to the clamping plate slide rail 426. The clamping plate 409 can slide on the clamping plate slide rail 426 along the length direction of the clamping plate slide rail 426 and be limited along the length direction of the clamping plate 409. The cooperation between the clamping plate slide rail 426 and the clamping plate slider 413 can realize the clamping and guiding effect of the two clamping plates 409, ensuring that the two clamping plates 409 can clamp the battery 6 horizontally, ensuring that the positioning pin 425 can smoothly enter the battery positioning hole 601, and at the same time ensuring the uniformity of the clamping force of the clamping plate 409 on the side of the battery 6, thereby achieving stable clamping of the battery 6.

[0084] Both sides of the clamping plate slide rail 426 are provided with elongated slide rail limiting grooves 412 extending along the length of the clamping plate slide rail 426. A clamping plate slider 413 is provided at the upper end of the clamping plate 409 to engage with the clamping plate slide rail 426. The inner side of the clamping plate slider 413 is provided with a slider limiting protrusion 414 to engage with the slide rail limiting grooves 412. The cooperation between the slide rail limiting grooves 412 and the slider limiting protrusion 414 can achieve a positioning function for the upper end of the clamping plate 409, preventing the clamping plate 409 from separating from the slide rail in the vertical direction.

[0085] In this embodiment, a pressure rod mounting assembly is provided on the clamping jaw mounting plate 410. The pressure rod mounting assembly includes a pressure rod linear bearing 403 mounted on the clamping jaw mounting plate 410. The pressure rod 408 is slidably arranged in the pressure rod linear bearing 403. The pressure rod mounting assembly also includes a spring extrusion member 415 provided at the lower end of the pressure rod 408. A pressure rod spring 416 is provided between the spring extrusion member 415 and the pressure rod linear bearing 403. The spring extrusion member 415 is sleeved on the pressure rod 408 and can press the pressure rod 408 downward. When it is necessary to compress the battery 6, the pressure rod 408 will move downward under the action of the pressure rod spring 416 compressing the spring extrusion member 415 until it is pressed against the upper end surface of the battery 6, thereby achieving the compression of the pressure rod 408 on the battery 6.

[0086] In this embodiment, there are two pressure rods 408, and the two pressure rods 408 can respectively press the two ends of the battery 6 along the length direction to ensure the uniform and stable force exerted by the pressure rods 408 on the battery 6. In addition, the upper end of the pressure rod 408 can move above the clamping claw mounting plate 410. The pressure rod mounting assembly also includes a pressure rod limiting plate 417 connected between the upper ends of the two pressure rods 408. The pressure rod limiting plate 417 is arranged above the clamping claw mounting plate 410. The pressure rods 408 at both ends are connected by the pressure rod limiting plate 417. On the one hand, it can realize axial limitation of the pressure rod 408 to prevent the pressure rod 408 from detaching from the pressure rod linear bearing 403 under the action of gravity. On the other hand, it can also ensure the synchronization of the movement of the pressure rods 408 at both ends, so that the pressure rods 408 at both ends press the two ends of the battery 6 evenly to ensure the stability of the compression of the battery 6.

[0087] In order to adjust the elastic force of the pressure rod spring 416, an external thread is provided on the outer wall of the lower end of the pressure rod 408, and the spring extrusion piece 415 is set to be a regulating nut threadedly connected to the lower end of the pressure rod 408. The lower end of the pressure rod spring 416 is pressed against the regulating nut. By changing the position of the regulating nut on the pressure rod 408, the pressure rod spring 416 can be compressed to different degrees, and then the elastic force of the pressure rod spring 416 is changed, and then the downward movement stroke of the lower end of the pressure rod 408 is adjusted to ensure that the pressure rod 408 can compress batteries 6 of different heights.

[0088] In order to ensure that the clamp can stably clamp the battery 6 on the drone, a clamp positioning assembly 418 is provided in this embodiment. The clamp positioning assembly 418 includes a positioning column 619 arranged on the drone, wherein the positioning column 619 is cylindrical and can be installed on the upper end surface of the drone near the battery compartment by screws or welding. It also includes a guide rod 419 arranged on the clamp mounting plate 410 and capable of moving up and down in the vertical direction. The lower end of the guide rod 419 is provided with a positioning block 420, and the positioning block 420 is provided with a clamp positioning hole 421 that cooperates with the positioning column 619 on the drone.

[0089] The jaw positioning assembly 418 includes a positioning linear bearing 422 installed on the lower surface of the jaw mounting plate 410, and the guide rod 419 is slidably set in the positioning linear bearing 422. The upper end of the guide rod 419 can move above the jaw mounting plate 410 and the upper end of the guide rod 419 is provided with a limiting flange 423. The guide rod 419 is provided with a positioning recovery spring 424 set between the positioning block 420 and the positioning linear bearing 422. In addition, the upper end of the guide rod 419 is also provided with a sensor for detecting whether the positioning column 619 is inserted into the jaw positioning hole 421. The sensor in this embodiment is a slot-type photoelectric sensor, which is used to detect the descending distance of the guide rod 419 to determine whether the positioning column 619 is inserted into the jaw positioning hole 421.

[0090] When the battery 6 of the drone needs to be replaced, the battery-changing clamp 401 is moved to the battery compartment of the drone through the clamp driving mechanism, so that the clamp positioning hole 421 on the positioning plate is aligned with the positioning column 619 on the drone, and then the battery-changing clamp 401 is moved down from top to bottom until the positioning column 619 is positioned in the clamp positioning hole 421. Since the positioning block 420 is connected by a guide rod 419 that can move up and down, and because the positioning block 420 can adapt to drones of different heights, it is ensured that the positioning block 420 can be smoothly positioned on the surface of the drone. After the positioning column 619 is inserted into the clamp positioning hole 421, the first positioning between the battery-changing clamp 401 and the drone battery compartment 617 is realized, which provides the prerequisite for subsequent clamping of the battery 6.

[0091] Then, the lower end of the pressure rod 408 is pressed against the upper end surface of the battery 6 under the action of the pressure rod spring 416, and the clamping plate 409 moves toward each other under the action of the clamping plate driving mechanism, clamping the side of the battery 6, and allowing the positioning pin 425 to be inserted into the battery positioning hole 601, thereby realizing the second positioning of the battery 6 by the battery replacement clamp 401. Through the two positionings and the pressing of the pressure rod 408 and the clamping of the clamping plate 409, the stability of the battery 6 clamped by the battery replacement clamp 401 and the accuracy of replacing the battery 6 from the drone battery compartment 617 to the battery replacement compartment during the battery replacement process can be fully guaranteed.

[0092] After the battery-exchanging clamp 401 and the battery 6 are completely positioned and stably clamped, the battery-exchanging clamp 401 is raised through the clamp driving mechanism, and then the battery-exchanging clamp 401 is moved above the charging pile 5 and the battery 6 is aligned with the battery slot on the charging pile 5 where the battery 6 is not placed, and then the battery-exchanging clamp 401 is lowered and the battery 6 is placed in the battery slot for charging.

[0093] Then, the same method is used to clamp the fully charged battery 6 on the charging pile 5, and the battery 6 is moved into the battery compartment of the drone to complete the battery replacement work of the drone.

[0094] Among them, in this embodiment, a charging pile 5 is provided in the drone airport body, and a plurality of battery slots for placing batteries 6 are provided on the upper end surface of the charging pile 5. The battery slots are provided with batteries 6 for the drone, and the battery 6 includes a battery body 602. Both side surfaces of the battery body 602 along the length direction are provided with clamping parts 603, wherein the outer surface of the clamping part 603 is configured as a serrated clamping surface, and a battery positioning hole 601 is provided at the middle position of the clamping part 603, which is axially perpendicular to the side of the battery body 602 and opens to the outside of the battery body 602.

[0095] When replacing the battery 6, the clamping plate 409 on the battery-exchanging clamp 401 will clamp the clamped parts 603 on both sides of the battery body 602, and at the same time, the positioning pin 425 on the clamping plate 409 that cooperates with the battery positioning hole 601 will be positioned in the battery positioning hole 601 on the side of the battery 6. The setting of the battery positioning hole 601 can enable the drone to cooperate with the positioning pin 425 on the battery-exchanging clamp 401 when replacing it in the airport. When clamping the drone battery 6, the positioning pin 425 on the battery-exchanging clamp 401 will be stuck in the battery positioning hole 601 to ensure stable clamping of the battery 6, and the serrated clamping surface can further increase the friction between the battery-exchanging clamp 401 and the clamped part 603, thereby further improving the stability of the battery 6 being clamped.

[0096] In order to ensure the stability of the battery 6 clamp in this embodiment, the clamped parts 603 on both sides of the battery body 602 are arranged symmetrically, and the clamped parts 603 are located on the center line of the battery body 602 in the longitudinal direction, which can ensure that the battery 6 is evenly stressed when being clamped.

[0097] In this embodiment, the clamped portion 603 includes a lock frame 604 arranged on the outer side of the battery body 602 and a movable lock 605 arranged in the lock frame 604. The lock frame 604 and the outer side surface of the battery body 602 together constitute a lock installation groove 606. The outer end surface of the movable lock 605 constitutes a serrated clamped surface and protrudes from the lock installation groove 606. The upper end of the movable lock 605 is provided with a connecting shaft 607 and the lower end is provided with a battery buckling portion 608. The lower side wall of the lock frame 604 is provided with a buckling portion limiter for the battery buckling portion 608 to extend from the lock installation groove 606. Position hole 609, the movable lock 605 can rotate around the connecting shaft 607 toward the inside of the lock mounting groove 606 under the action of external force, and a return spring 610 is provided between the movable lock 605 and the outer side surface of the battery body 602 for driving the movable lock 605 to rotate toward the outside of the lock mounting groove 606, wherein the inner side surface of the movable lock 605 is provided with a spring column 611 which is perpendicular to the outer side surface of the battery body 602, and the return spring 610 is sleeved on the spring column 611 and one end rests on the inner side surface of the movable lock 605, and the other end rests on the outer side surface of the battery body 602.

[0098] In addition, the upper ends of both side walls of the lock mounting groove 606 are provided with upward-opening coupling grooves 612, and the ends of the connecting shaft 607 are inserted into the coupling grooves 612 from top to bottom. The upper end of the lock mounting groove 606 is provided with a lock cover plate 614. The lock cover plate 614 includes a pressure plate body 615. The two ends of the lower end surface of the pressure plate body 615 are provided with protrusions 616 that extend into the lock mounting groove 606 to block the opening of the coupling groove 612. The two ends of the pressure plate body 615 are connected to the battery body 602 by pins. The provision of the lock cover plate 614 can effectively prevent the connecting shaft 607 from falling out of the coupling groove 612, ensuring the structural stability of the entire lock structure.

[0099] When the UAV enters the airport and needs to replace the battery 6, first align the clamp positioning hole 421 of the positioning block 420 on the clamp positioning assembly 418 with the positioning column 619 on the UAV, and then move the battery-changing clamp 401 downward from top to bottom until the positioning column 619 is positioned in the clamp positioning hole 421, so that the battery-changing clamp 401 is positioned in the battery compartment 617 of the UAV; then insert the positioning pin 425 on the clamping plate 409 into the battery positioning hole 601 on the side wall of the battery 6 to realize the positioning between the battery-changing clamp 401 and the battery 6, and then connect The clamping plate 409 applies force to the outer surface of the movable lock 605, causing the movable lock 605 to overcome the action of the return spring 610 and rotate around the connecting shaft 607. At this time, the battery fastening portion 608 at the lower end of the movable lock 605 follows the movable lock 605 and moves toward the inside of the battery 6, realizing the unlocking between the battery fastening portion 608 and the drone fastening portion 618 in the drone battery compartment 617. At this time, the battery-changing clamp 401 can remove the battery 6 from the drone battery compartment 617. After removal, it can be moved into the airport battery compartment in the airport for charging. By cooperating with the battery 6 itself and the battery-changing clamp 401, the battery 6 is unlocked from the drone battery compartment 617 and the battery 6 is clamped.

[0100] The fixed electric fully automatic vertical take-off fixed-wing airport in this embodiment has a detachable wing storage cavity, wherein the airport body of the fixed electric fully automatic vertical take-off fixed-wing airport includes an airport body 7, and the airport body 7 is provided with a main body storage cavity 701 for the horizontal entry of the drone and for storing the main body part of the drone. The two sides of the airport body 7 are symmetrically connected with detachable wing storage shells 702, and the interior of the wing storage shell 702 is composed of a wing storage cavity 703 that is connected to the main body storage cavity 701 and is used to store the wing part of the drone.

[0101] In this embodiment, the airport body is designed to be a detachable structure so that the airport can be transported separately. While effectively storing the wings and blades of the fixed-wing UAV, it can also be disassembled to achieve the purpose of reducing the volume and weight of the airport, reducing the floor space, and being able to be disassembled for easy transportation.

[0102] The front end of the main storage cavity 701 and the front end of the wing storage cavity 703 together form the drone entrance 704. The frame of the drone entrance 704 forms a door frame 103. Door 101 is located in door frame 103. Door 101 includes a main door 705 that can cover the front end of the main storage cavity 701 and detachable secondary doors 706 arranged on both sides of the main door 705 and capable of covering the front ends of the wing storage cavities 703 on either side. The door is also designed to be detachable, which further facilitates the disassembly of the drone airport, further reducing the airport's weight and volume, reducing the difficulty and cost of transportation, and improving transportation convenience.

[0103] In order to achieve connection stability at the disassembly point on the airport in this embodiment, the main body storage cavity 701 is a U-shaped storage cavity with an open front end face, and both side walls of the main body storage cavity 701 are provided with a shell mounting opening 707 with a front end extending to the front end face of the main body storage cavity 701 to form a front end opening. The end of the wing storage shell 702 connected to the airport body 7 is the shell opening end 708 corresponding to the shell mounting opening 707, and the shell opening end 708 is connected to the shell mounting opening 707 by bolts.

[0104] At the same time, a first mounting frame bar 709 is vertically provided on the inner wall of the shell mounting opening 707. The first mounting frame bar 709 and the inner wall of the shell mounting opening 707 together constitute a mounting step groove. The shell opening end 708 is provided with a second mounting frame bar 711 which can be inserted into the mounting step groove and fits with the first mounting frame bar 709. The first mounting frame bar 709 and the second mounting frame bar 711 are connected by bolts, and the auxiliary door body 706 and the main door body 705 are connected by bolts.

[0105] The connection at the disassembly point is achieved by means of bolts, making assembly and disassembly very convenient. In addition, there are mutually cooperating mounting parts between the wing storage shell 702 and the airport body 701, which can make the assembly between the two more stable and ensure the stability of the overall structure of the airport.

[0106] In this embodiment, the front end face of the door frame 103 is provided with a U-shaped slot 712 which is connected end to end and opens outward, and the edge of the rear end face of the door body is provided with a U-shaped ridge 710 which can be inserted into the U-shaped slot 712 and is connected end to end. A sealing strip is provided between the U-shaped slot 712 and the U-shaped ridge 710 to seal the gap between the door body 101 and the door frame 103. The setting of the sealing strip can achieve a waterproof effect at the door body 101, preventing rainwater from entering the interior of the airport through the opening and closing of the door body 101.

[0107] The main door body 705 is connected to the front end surface of the main storage cavity 701 through a connecting rod mechanism 102 and can swing upward to open. This opening and closing method occupies less space, whether it is the door body 101 itself or the stroke required for opening and closing of the door body 101, which can greatly save space. At the same time, it also has the characteristics of relatively simple overall production and assembly.

[0108] In this embodiment, the fixed electric fully automatic vertical take-off fixed-wing airport has a monitoring system, wherein the airport body includes an airport shell 8, on which a drone entrance and exit 704 is provided, and outside the airport shell 8 is provided a weather station 801 for detecting weather data outside the airport and a video monitoring module 802 for monitoring the drone entrance and exit 704; inside the airport shell 8 is provided a fire protection module and a temperature control module.

[0109] The video surveillance module 802 includes a camera 803 that can be directed toward the drone entrance 704. The temperature control module includes a temperature sensor for detecting the internal temperature of the airfield housing 8 and a cooling fan disposed within the airfield housing 8 to dissipate heat from the airfield housing 8 based on the temperature detected by the temperature sensor. A cooling vent 816 is provided on the rear side of the airfield housing 8. The fire prevention module includes a smoke sensor disposed on the upper end surface of the airfield housing 8 and located in the middle of the airfield housing 8. The weather station 801 includes a mast 817 mounted on the airfield housing 8 and a micrometeorological module 818 disposed on the mast 817. The micrometeorological module 818 includes a temperature sensor, a humidity sensor, an air pressure sensor, a wind speed sensor, a wind direction sensor, and a rainfall sensor capable of detecting temperature, humidity, air pressure, wind speed, wind direction, and rainfall, respectively.

[0110] By installing a monitoring system consisting of a weather station 801, a video monitoring module 802, a fire prevention module, and a temperature control module on a fixed electric fully automatic vertical take-off fixed-wing airport, monitoring of all aspects of the fixed electric fully automatic vertical take-off fixed-wing airport can be achieved, and the monitoring data can be communicated to the airport controller, which will upload it to the background control terminal. In this way, technical personnel can obtain real-time information, and can not only realize weather monitoring, video monitoring, fire prevention warning, temperature control, etc. based on the detected information, but also maintain the fixed electric fully automatic vertical take-off fixed-wing airport based on the real-time information.

[0111] In this embodiment, the drone entrance and exit 704 is arranged on the front side of the airport shell 8, and a door body is provided at the drone entrance and exit 704. The video monitoring module 802 is arranged on the top surface of the end of the airport shell 8 close to the drone entrance and exit 704, wherein the video monitoring module 802 also includes a camera bracket 804, and the camera bracket 804 includes a lower fixed seat 805 installed on the outer surface of the airport shell 8 and an upper fixed seat 806 installed on the lower fixed seat 805. The camera 803 is installed on the upper fixed seat 806, and the upper fixed seat 806 can be rotated relative to the lower fixed seat 805 to realize the rotation of the camera 803 in the forward and backward directions.

[0112] The upper fixed seat 806 and the lower fixed seat 805 are both U-shaped plates, and the U-shaped openings are arranged opposite to each other and the side walls are both semicircular. The outer surface of the side wall of the lower fixed seat 805 slides with the inner surface of the side wall of the upper fixed seat 806. The side wall of the lower fixed seat 805 is rotatably connected to the side wall of the upper fixed seat 806 through a rotating pin 807. The side wall of the upper fixed seat 806 is also provided with an arc-shaped limiting hole 808 that bends toward the rotation point of the rotating pin 807. The side wall of the lower fixed seat 805 is provided with a fixing pin 809 connected to the arc-shaped limiting hole 808 to limit the rotation of the upper fixed seat 806.

[0113] Two long movable mounting holes 810 are provided on the upper end wall of the upper fixed seat 806, which are spaced apart and whose length direction is arranged along the front-to-back direction of the camera 803. A fixed mounting hole 811 is provided between the two movable mounting holes 810. A camera mounting plate 812 is fixed to the bottom of the camera 803, and the camera mounting plate 812 is provided with two camera mounting holes 813 which can be respectively connected to the movable mounting hole 810 and the fixed mounting hole 811.

[0114] In this embodiment, the camera 803 is installed on the airport shell 8 through the camera bracket 804, wherein the camera bracket 804 is connected by the upper and lower fixing seats 805. The two can rotate relative to each other so that the camera direction of the camera 803 can be adjusted according to actual needs, and after adjusting to the required angle, the two can also be limited by the fixing pin 809 to ensure the stability of the camera 803 shooting.

[0115] In addition, a bracket mounting hole 814 and a plurality of arc-shaped elongated holes 815 evenly arranged around the bracket mounting hole 814 are provided at the center of the lower end wall of the lower fixing base 805. When the camera bracket 804 is installed on the airport body, installation is achieved through the bracket mounting hole 814 and the plurality of arc-shaped elongated holes 815 evenly arranged around the bracket mounting hole 814. The bracket mounting hole 814 positions the camera bracket 804 on the airport housing 8, and the arc-shaped elongated holes 815 ensure stable installation of the camera bracket 804 on the airport housing 8. The arrangement of the arc-shaped elongated holes 815 makes the installation of the camera bracket 804 on the airport housing 8 very flexible, and the bolt fixing position can be selected according to actual needs, which can adapt to airport housings 8 of different shapes.

[0116] When the camera 803 of this embodiment is installed on the camera bracket 804, it is installed through the two camera mounting holes 813 on the camera mounting plate 812. The spacing between the camera mounting holes 813 on different cameras 803 is different. In order to adapt to the installation of different cameras 803, in this embodiment, two elongated movable mounting holes 810 are provided on the upper end wall of the upper fixing seat 806, which are spaced apart and the length direction is arranged along the front and rear direction of the camera 803. A fixed mounting hole 811 is provided between the two movable mounting holes 810, so that one of the camera mounting holes 813 is connected to the fixed mounting hole 811, and the other camera mounting hole 813 is connected to the elongated movable mounting hole 810. The bolts can be placed in different positions of the movable mounting holes 810 according to the spacing between the two camera mounting holes 813, so that the camera bracket 804 can be more flexibly adapted to the installation of different cameras 803.

[0117] In short, the above description is only a preferred embodiment of the present invention, and all equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the patent of the present invention.

Claims

1. A battery-changing gripper, comprising a gripper body (407) arranged in a fixed electric fully automatic vertical take-off fixed-wing airport, characterized in that: The clamp body (407) includes a pressure rod (408) capable of moving in a vertical direction and pressing the upper end surface of the battery (6) on the drone, and also includes a clamping plate (409) capable of relatively moving in a horizontal direction and clamping both sides of the battery (6) on the drone; The clamping jaw body (407) includes a horizontally arranged clamping jaw mounting plate (410), a pressure rod mounting assembly is provided on the clamping jaw mounting plate (410), the pressure rod mounting assembly includes a pressure rod linear bearing (403) installed on the clamping jaw mounting plate (410), a pressure rod (408) is slidably arranged in the pressure rod linear bearing (403), the pressure rod mounting assembly also includes a spring extrusion member (415) arranged at the lower end of the pressure rod (408), and a pressure rod spring (416) is provided between the spring extrusion member (415) and the pressure rod linear bearing (403), which is sleeved on the pressure rod (408) and can press the pressure rod (408) downward; The clamping ends and opposite surfaces of the two clamping plates (409) are both provided with positioning pins (425), and the side surface of the battery (6) on the drone is provided with a battery positioning hole (601) for inserting the positioning pin (425); the outer side surface of the battery (6) further includes a lock frame (604) and a movable lock (605) arranged in the lock frame (604), the lock frame (604) and the outer side surface of the battery body (602) together form a lock installation groove (606), the outer end surface of the movable lock (605) forms a serrated clamped surface and protrudes from the lock installation groove (606), the upper end of the movable lock (605) is provided with a connecting shaft (607), the lower end is provided with a battery buckling portion (608), and the lower side wall of the lock frame (604) is provided with a battery buckling portion (608). 08) A locking portion limiting hole (609) extending from the lock buckle mounting groove (606), the movable lock buckle (605) can rotate around the connecting shaft (607) toward the inside of the lock buckle mounting groove (606) under the action of an external force, and a return spring (610) for driving the movable lock buckle (605) to rotate toward the outside of the lock buckle mounting groove (606) is provided between the movable lock buckle (605) and the outer side surface of the battery body (602), wherein a spring column (611) perpendicularly arranged to the outer side surface of the battery body (602) is provided on the inner side surface of the movable lock buckle (605), and the return spring (610) is sleeved on the spring column (611) and one end abuts against the inner side surface of the movable lock buckle (605), and the other end abuts against the outer side surface of the battery body (602); The clamping plate driving mechanism is a bidirectional screw motor, and the two clamping plates (409) are respectively connected to the driving shafts on both sides of the bidirectional screw motor; The invention also includes a clamping jaw positioning assembly (418), which includes a positioning column (619) arranged on the drone, and a guide rod (419) arranged on the clamping jaw mounting plate (410) and capable of moving up and down in a vertical direction, and a positioning block (420) is provided at the lower end of the guide rod (419), and the positioning block (420) is provided with a clamping jaw positioning hole (421) that cooperates with the positioning column (619) on the drone.

2. The battery-changing clamp according to claim 1, characterized in that: The clamping jaw body (407) includes a horizontally arranged clamping jaw mounting plate (410), one end of the clamping jaw mounting plate (410) is provided with a vertically arranged slider mounting plate (411), the third slider is mounted on the slider mounting plate (411), the upper end of the clamping plate (409) constitutes a connecting end mounted on the clamping jaw mounting plate (410), and the lower end constitutes a clamping end for clamping the battery (6), a clamping plate driving mechanism mounted on the lower surface of the clamping jaw mounting plate (410) is provided between the two clamping plates, and the two clamping plates (409) are respectively mounted on both sides of the clamping plate driving mechanism and the clamping plate driving mechanism enables the two clamping plates (409) to move toward or away from each other in the horizontal direction.

3. The battery-changing clamp according to claim 2, characterized in that: A clamping plate slide rail (426) is provided on the lower surface of the clamping jaw mounting plate (410) and is arranged horizontally and arranged in the longitudinal direction along the movement direction of the clamping plate (409). The upper end of the clamping plate (409) is connected to the clamping plate slide rail (426). The clamping plate (409) can slide on the clamping plate slide rail (426) along the longitudinal direction of the clamping plate slide rail (426) and be limited along the longitudinal direction of the clamping plate (409).

4. The battery-changing clamp according to claim 3, characterized in that: Both sides of the clamping plate slide rail (426) are provided with long strip-shaped slide rail limiting grooves (412) arranged along the length direction of the clamping plate slide rail (426), the upper end of the clamping plate (409) is provided with a clamping plate slider (413) that cooperates with the clamping plate slide rail (426), and the inner side surface of the clamping plate slider (413) is provided with a slider limiting protrusion (414) that cooperates with the slide rail limiting groove (412).

5. The battery-changing clamp according to claim 2, characterized in that: A pressure rod mounting assembly is provided on the clamping jaw mounting plate (410), and the pressure rod mounting assembly includes a pressure rod linear bearing (403) mounted on the clamping jaw mounting plate (410).

6. The battery-changing clamp according to claim 5, characterized in that: An external thread is provided on the outer wall of the lower end of the pressure rod (408), and the spring extrusion member (415) is an adjustment nut threadedly connected to the lower end of the pressure rod (408), and the lower end of the pressure rod spring (416) is tightly pressed against the adjustment nut.

7. The battery-changing clamp according to claim 5 or 6, characterized in that: There are two pressure rods (408), and the two pressure rods (408) can respectively press the two ends of the battery (6) along the length direction. The upper ends of the pressure rods (408) can move above the clamping claw mounting plate (410). The pressure rod mounting assembly also includes a pressure rod limiting plate (417) connected between the upper ends of the two pressure rods (408). The pressure rod limiting plate (417) is arranged above the clamping claw mounting plate (410).

8. The battery-changing clamp according to claim 1, characterized in that: The clamping jaw positioning assembly (418) includes a positioning linear bearing (422) mounted on the lower surface of the clamping jaw mounting plate (410), a guide rod (419) is slidably arranged in the positioning linear bearing (422), the upper end of the guide rod (419) can move above the clamping jaw mounting plate (410) and the upper end of the guide rod (419) is provided with a limiting flange (423), and the guide rod (419) is provided with a positioning recovery spring (424) arranged between the positioning block (420) and the positioning linear bearing (422).

9. Fixed electric fully automatic vertical take-off fixed-wing airport, characterized by: It includes the battery-changing clamp described in any one of claims 1-8.

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