A battery swapping mechanism and a fixed-wing airport with fully automatic vertical takeoff and landing for power supply

Abstract

The present invention relates to a vertical take-off fixed-wing aircraft, and discloses a battery swapping mechanism, which includes a charging pile in the shape of a cuboid, where multiple batteries are stored. The battery swapping mechanism further includes a swapping gripper capable of gripping the batteries at the drone battery compartment and at the charging pile, and a gripper mounting mechanism for mounting the swapping gripper. The gripper mounting mechanism is provided with a gripper driving mechanism for driving the swapping gripper to move in three directions along the length, width, and height of the charging pile. By arranging a swapping gripper capable of three-dimensional movement in a fixed-power full-automatic vertical take-off fixed-wing airport, the present invention can well realize the replacement of the battery at the charging pile in the airport and the battery in the drone battery compartment on the apron.

Description

Technical Field

[0001] The present invention relates to a fixed - type power - driven fully vertical take - off fixed - wing airport, and particularly to a battery - changing mechanism within a fixed - type power - driven fully vertical take - off fixed - wing airport. Background Art

[0002] According to the flight principle and structure of unmanned aerial vehicles (UAVs), they can be roughly divided into multi - rotor UAVs and fixed - wing UAVs. Due to the structural advantages and flight - principle advantages, fixed - wing UAVs occupy a great advantage in the field of UAVs.

[0003] In the prior art, in order to avoid the influence of ground effect on UAVs during take - off and landing, there are special airports designed for storing vertical take - off and landing fixed - wing UAVs. There is a landing pad in the airport. After the UAV enters the airport, it stops on the landing pad. In the prior art, the technology for replacing the battery of the UAV parked on the landing pad still needs to be further improved. Summary of the Invention

[0004] The present invention aims at the problems existing in battery changing of vertical take - off and landing fixed - wings on the airport landing pad, and provides a battery - changing mechanism.

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

[0006] A battery - changing mechanism includes a charging pile in the shape of a cuboid, where multiple batteries are stored. It also includes a battery - changing gripper capable of gripping the battery at the UAV battery compartment and the battery at the charging pile, and a gripper mounting mechanism for mounting the battery - changing gripper. The gripper mounting mechanism is provided with a gripper driving mechanism for driving the battery - changing gripper to move in three directions: the length, width, and height of the charging pile.

[0007] Preferably, the gripper mounting mechanism includes two parallel first guide rails arranged along the length direction of the charging pile. A second guide rail perpendicular and horizontal to the first guide rails is connected between the two first guide rails. The second guide rail can slide along the length direction of the first guide rail on the first guide rail. A third guide rail connected to the second guide rail can slide along the length direction of the second guide rail. The length direction of the third guide rail is vertical. The battery - changing gripper is connected to the third guide rail and can slide up and down along the third guide rail.

[0008] Preferably, the battery - changing gripper includes a gripper body. The gripper body includes a pressing rod capable of moving in the vertical direction and pressing the upper end surface of the battery on the UAV, and also includes clamping plates capable of moving relatively in the horizontal direction and clamping both sides of the battery on the UAV.

[0009] Preferably, the jaw body includes a horizontally arranged jaw mounting plate. One end of the jaw mounting plate is provided with a vertically arranged slider mounting plate. A guide rail slider capable of sliding up and down on the third guide rail is installed on the slider mounting plate. The upper end of the clamping plate forms a connection end mounted on the jaw mounting plate, and the lower end forms a clamping end for clamping the battery. A clamping plate driving mechanism is installed on the lower surface of the clamping plate mounting plate between the two clamping plates. The two clamping plates are respectively installed on both sides of the clamping plate driving mechanism and the two clamping plates are driven to move towards or away from each other in the horizontal direction through the clamping plate driving mechanism.

[0010] Preferably, positioning pins are provided on the clamping ends and opposite surfaces of the two clamping plates. Battery positioning holes for inserting the positioning pins are provided on the side surface of the battery on the unmanned aerial vehicle. The cooperation between the positioning pins and the battery positioning holes can realize the clamping and positioning of the battery by the clamping plates, ensuring the accuracy and stability of the battery clamping.

[0011] Preferably, a clamping plate slide rail is provided on the lower surface of the jaw mounting plate, which is horizontally arranged and the length direction is along the movement direction of the clamping plate. The upper end of the clamping plate is connected to the clamping plate slide rail. The clamping plate can slide along the length direction of the clamping plate slide rail on the clamping plate slide rail and is limited in the length direction of the clamping plate. The setting of the clamping plate slide rail can realize the guiding effect on the movement of the clamping plate, ensure that the clamping plate applies force to the battery horizontally, and effectively improve the stability of battery clamping.

[0012] Preferably, strip-shaped slide rail limiting grooves are provided on both sides of the clamping plate slide rail along the length direction of the clamping plate slide rail. The upper end of the clamping plate is provided with a clamping plate slider that cooperates with the clamping plate slide rail. A slider limiting protrusion that cooperates with the slide rail limiting groove is provided on the inner side surface of the clamping plate slider. The cooperation between the slider limiting protrusion and the slide rail limiting groove can ensure the stability of the connection between the clamping plate and the slide rail, and prevent the clamping plate from disengaging from the slide rail vertically.

[0013] Preferably, the clamping plate driving mechanism is a bidirectional lead screw motor, and the two clamping plates are respectively connected to the driving shafts on both sides of the bidirectional lead screw motor.

[0014] Preferably, a pressure rod mounting assembly is provided on the jaw mounting plate. The pressure rod mounting assembly includes a pressure rod linear bearing installed on the jaw mounting plate. The pressure rod is slidably arranged in the pressure rod linear bearing. The pressure rod mounting assembly further includes a spring extrusion member provided at the lower end of the pressure rod. A pressure rod spring that can squeeze the pressure rod downward is sleeved on the pressure rod between the spring extrusion member and the pressure rod linear bearing. The pressure rod can be stably pressed against the upper end surface of the battery under the action of the pressure rod spring, ensuring the stability of the battery clamping process.

[0015] Preferably, an external thread is provided on the outer wall of the lower end of the pressure rod, the spring pressing member is an adjusting nut threadedly connected to the lower end of the pressure rod, and the lower end of the pressure rod spring abuts against the adjusting nut. The spring pressing member is connected to the pressure rod by means of a thread, and then the elastic force of the pressure rod spring can be adjusted so that the pressure rod can press batteries of different thicknesses.

[0016] Preferably, there are two pressure rods. The two pressure rods can respectively press the two ends of the battery along the length direction. The upper end of the pressure rod can move above the jaw mounting plate. The pressure rod mounting assembly further includes a pressure rod limiting plate connected between the upper ends of the two pressure rods. The pressure rod limiting plate is arranged above the jaw mounting plate. The pressure rod limiting plate can realize the axial limit of the pressure rod and ensure the synchronization of the movement of the two pressure rods at both ends, so that the two pressure rods at both ends apply uniform force to press the battery at both ends and ensure the pressing stability of the battery.

[0017] Preferably, a jaw positioning assembly is further included. The jaw positioning assembly includes a positioning post arranged on the unmanned aerial vehicle, and a guide rod arranged on the jaw mounting plate and capable of moving up and down in the vertical direction. A positioning block is provided at the lower end of the guide rod, and a jaw positioning hole matching with the positioning post on the unmanned aerial vehicle is provided on the positioning block. The cooperation between the jaw positioning hole on the positioning block and the positioning post on the unmanned aerial vehicle can ensure the accuracy of the battery clamping by the power exchange jaws, ensure the uniformity of the force applied by the two pressure rods and the two clamping plates on both sides to the battery, and ensure the accuracy of finally placing the battery into the charging bin.

[0018] Preferably, the jaw positioning assembly includes a positioning linear bearing mounted on the lower surface of the jaw mounting plate. The guide rod is slidably arranged in the positioning linear bearing. The upper end of the guide rod can move above the jaw mounting plate and a limiting flange is provided at the upper end of the guide rod. A positioning return spring is sleeved on the guide rod and arranged between the positioning block and the positioning linear bearing. The setting of the positioning return spring can, on the one hand, realize the reset of the guide rod in the non-working state, and on the other hand, also ensure to provide pressure in the positioning state of the positioning block to ensure that the positioning block is stably positioned at the required position.

[0019] Due to the adoption of the above technical solutions, the present invention has remarkable technical effects:

[0020] By providing a power exchange jaw capable of three-dimensional movement in a fixed-type fully automatic vertical take-off fixed-wing airport, the present invention can well realize the replacement of the battery at the charging pile in the airport and the battery in the battery compartment of the unmanned aerial vehicle on the apron. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic structural diagram of Embodiment 1 of the present invention.

[0022] Figure 2 is Figure 1 an exploded view of

[0023] Figure 3 is Figure 1 a structural schematic diagram of the front door mechanism in the open state.

[0024] Figure 4 is Figure 1 a schematic diagram of the internal structure of

[0025] Figure 5 a structural schematic diagram of the front door mechanism in the present invention.

[0026] Figure 6 a structural schematic diagram of another state of the front door mechanism in the present invention.

[0027] Figure 7 is Figure 4 a structural schematic diagram of the connection between the helipad and the multi-stage telescopic guide rail mechanism in

[0028] Figure 8 is Figure 7 a structural schematic diagram of the helipad in

[0029] Figure 9 is Figure 8 a structural schematic diagram of the UAV centering mechanism in

[0030] Figure 10 is Figure 7 a structural schematic diagram of the multi-stage telescopic guide rail mechanism in the retracted state.

[0031] Figure 11 is Figure 7 a structural schematic diagram of the multi-stage telescopic guide rail mechanism in the deployed state.

[0032] Figure 12 is Figure 7 a structural schematic diagram of the airport battery swapping mechanism in

[0033] Figure 13 is Figure 12 a schematic diagram of the battery swapping jaw in the state of gripping the battery in

[0034] Figure 14 is Figure 13 a structural schematic diagram of the battery swapping jaw in

[0035] Figure 15 is Figure 14 a cross-sectional view of

[0036] Figure 16 is Figure 4 a structural schematic diagram of the battery in

[0037] Figure 17 is Figure 16 a partial structural schematic diagram of

[0038] Figure 18 is Figure 17 the schematic cross-sectional structure diagram of

[0039] Figure 19 is Figure 16 the schematic structure diagram of the movable latch in

[0040] Figure 20 the schematic structure diagram at the UAV battery compartment in this embodiment.

[0041] Figure 21 the schematic diagram of the state where the pressing plate presses the UAV in this embodiment.

[0042] Figure 22 the partial schematic structure diagram of the multi-stage telescopic guide rail mechanism in this embodiment.

[0043] Figure 23 is Figure 1 the schematic structure diagram of the camera in

[0044] Figure 24 is Figure 1 the schematic structure diagram of the camera bracket in Detailed implementation manners

[0045] The present invention will be further described in detail below in conjunction with the drawings and embodiments.

[0046] Embodiment 1

[0047] A fixed-wing airport with fixed power and full-automatic vertical takeoff, as Figures 1 - 24 shown, includes an airport body. An airport door is provided on one side of the airport body. The airport door includes a front door mechanism 1. The front door mechanism 1 includes a door body 101. The door body 101 is connected to the airport body through a link mechanism 102 and can swing upward to open under the action of the link mechanism 102. A parking apron body 2 that can horizontally move out from the door body 101 is provided inside the airport body. The parking apron body 2 is arranged inside the airport body through a multi-stage telescopic guide rail mechanism 3.

[0048] In this embodiment, the front door mechanism 1 includes a door frame 103 provided on the front side of the frame of the fixed-wing airport with fixed power and full-automatic vertical takeoff. The door body 101 is provided at the door frame 103 through a link mechanism 102. The door body 101 swings upward to open and swings downward to close through the link mechanism 102.

[0049] Among them, the linkage mechanism 102 includes a driving rod 104 whose two ends are rotatably connected to the fixed-frame of the fixed-wing airport with fully automatic power vertical take-off. A bearing seat 112 is provided at the end of the driving rod 104. A bearing connected to the driving rod 104 is provided inside the bearing seat 112. The driving rod 104 is installed on the fixed-frame of the fixed-wing airport with fully automatic power vertical take-off through the bearing seat 112, and the bearing seat 112 is installed at the upper end of the fixed-frame of the fixed-wing airport with fully automatic power vertical take-off by bolts or screws. A connecting rod 105 is hinged to both ends of the driving rod 104. One end of the connecting rod 105 is hinged to the end of the driving rod 104, and the other end is hinged to the door body 101. The connecting rod 105 is a bent 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 driving rod 104 is above the end hinged to the door body 101.

[0050] In this embodiment, a front door driving mechanism 107 is further included. The front door driving mechanism 107 includes a front door driving motor 108 for driving the driving rod 104 to rotate.

[0051] The front door driving motor 108 is installed on the fixed-frame of the fixed-wing airport with fully automatic power vertical take-off. A front door driving gear 109 is installed on the driving shaft of the front door driving motor 108, and a front door driven gear 110 meshing with the driving gear is provided on the driving rod 104.

[0052] When opening the door, the front door driving motor 108 starts, drives the front door driven gear 110 through the front door driving gear 109, the front door driven gear 110 drives the driving rod 104 to rotate. After the driving rod 104 rotates, it drives the connecting rods 105 at both ends to rotate counterclockwise. At this time, the connecting rods 105 can first push the door body 101 outwards and at the same time drive the door body 101 to move upwards, realizing the upward swing of the door body 101 until the door body 101 moves above the fixed-frame of the fixed-wing airport with fully automatic power vertical take-off, realizing the full opening of the door body 101. At this time, the end of the connecting rod 105 hinged to the driving rod 104 is below the end hinged to the door body 101.

[0053] When closing the door, the front door driving motor 108 rotates in reverse, causing the connecting rod 105 to rotate clockwise. The connecting rod 105 drives the door body 101 to move downwards and towards the door frame 103 until the door body 101 is completely inside the door frame 103, realizing the closing of the door body 101.

[0054] In this embodiment, the linkage mechanism 102 further includes a connecting rod 111 with one end hinged to the fixed-frame of the fixed-wing airport with fully automatic power vertical takeoff, 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 arrangement of the connecting rod can further enhance the stability of the door body 101 covering the door frame 103 when the door body 101 is closed. When the door body 101 is opened, it plays a further supporting role for the door body 101, effectively enhancing the connection stability between the door body 101 and the fixed-frame of the fixed-wing airport with fully automatic power vertical takeoff.

[0055] In this embodiment, a sealing strip for sealing the gap between the door body 101 and the door frame 103 is provided between the door frame 103 and the door body 101. The arrangement of the sealing strip can achieve the waterproof function at the door body 101, preventing rainwater from entering the airport interior through the opening and closing part of the door body 101.

[0056] In this embodiment, by arranging the door body 101 on the front side of the fixed-frame of the fixed-wing airport with fully automatic power vertical takeoff and realizing the opening and closing of the door body 101 through the connecting rod 105, the door body 101 is on one side of the airport, and no foreign objects such as leaves or snow will accumulate on the outer surface of the door body. During the opening and closing process, the problem of foreign objects being clamped into the cabinet interior when opening and closing the door can be effectively solved. 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 the opening and closing of the door body 101, the space occupied is relatively small, which can greatly save space. At the same time, it also has the characteristics of relatively simple overall manufacturing and assembly.

[0057] In this embodiment, a landing pad body 2 that can be horizontally moved out from the airport door is provided inside the airport. The landing pad body 2 includes a landing pad base 201 in the shape of a square frame. A landing pad floor 202 is provided in the middle of the landing pad base 201. The landing pad base 201 is provided with a UAV centering mechanism 203. The UAV centering mechanism 203 includes a lateral push rod mechanism 204 and a longitudinal push rod mechanism 205 that can push the UAV to the center position of the landing pad body 2.

[0058] In this embodiment, the lateral push rod mechanism 204 includes two lateral push rods 206 arranged along the length direction of the apron body 2 and capable of moving towards or away from each other in 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 towards or away from each other in the length direction of the apron body 2. It further includes two sets of push rod driving mechanisms for driving the movement of the lateral push rods 206 and the longitudinal push rods 207 respectively. The push rod driving mechanism includes two relatively parallel driving rod assemblies 208. The two ends of the lateral push rod 206 or the longitudinal push rod 207 are respectively connected to the driving rod assemblies 208 on the corresponding two sides. The driving rod assembly 208 includes a push rod driving wheel 209 and a left-handed lead screw 210 and a right-handed lead screw 211 arranged on both sides of the push rod driving wheel 209 and connected by a coupling. The two lateral push rods 206 or the two longitudinal push rods 207 moving towards or away from each other are respectively threadedly connected to the left-handed lead screw 210 and the right-handed lead screw 211. The left-handed lead screw 210 and the right-handed lead screw 211 are trapezoidal lead screws or ball screws.

[0059] Under the action of the push rod driving mechanism, the movement of the lateral push rod 206 and the longitudinal push rod 207 is realized, so as to push the unmanned aerial vehicle landing on the apron bottom plate 202 to the required position. By controlling the rotation of the left-handed lead screw 210 and the right-handed lead screw 211 through the control system, the stroke of the push rod pushing the unmanned aerial vehicle can be accurately controlled, ensuring that the unmanned aerial vehicle can be accurately positioned finally.

[0060] In this embodiment, the push rod driving mechanism includes a push rod driving motor 212. A driving rotating shaft 213 is connected to the motor shaft of the push rod driving motor 212. Two driving synchronous wheels 214 are arranged on the driving rotating shaft 213. It further includes a driven rotating shaft 215. Two driven synchronous wheels 216 are arranged on the driven rotating shaft 215. One of the driving synchronous wheels 214 and one of the driven synchronous wheels 216 are respectively connected to the push rod driving wheels 209 on the driving rod assemblies 208 on both sides through a synchronous belt. The other driving synchronous wheel 214 and the other driven synchronous wheel 216 are connected through another synchronous belt.

[0061] Among them, in order to ensure the stability and reliability of the transmission, a linkage synchronous wheel 217 is further arranged between the two driving synchronous wheels 214 on the driving rotating shaft 213. The motor shaft of the push rod driving motor 212 and the linkage synchronous wheel 217 are connected through a synchronous belt.

[0062] In this embodiment, the synchronous movement of the push rods on both sides in the same direction is realized through one push rod driving motor 212, which not only improves the efficiency of the centering process of the unmanned aerial vehicle, but also 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 program of the synchronous control system.

[0063] In this embodiment, the push rod driving mechanism further includes two screw rod mounting seats 218 for mounting the left-handed screw rod 210 and the right-handed screw rod 211. The screw rod mounting seat 218 includes two relatively arranged screw rod mounting plates 219. The two ends of the left-handed screw rod 210 or the right-handed 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. A thread connecting seat 222 connected to the left-handed screw rod 210 or the right-handed screw rod 211 is provided at the end of the transverse push rod 206 or the longitudinal push rod 207. A push rod slider 223 capable of sliding on the push rod slide rail 221 is provided at the bottom of the thread connecting seat 222. A push rod chute 224 matching the push rod slide rail 221 is provided on the lower end surface of the push rod slider 223. The arrangement of the push rod chute 224 and the push rod slider 223 can guide the movement process 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.

[0064] In this embodiment, a push frame 225 with 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 an opening facing downward is connected to the two transverse connecting rods 226. The end face of the U-shaped frame 227 facing the center of the apron body 2 constitutes the longitudinally extending push surface. The arrangement of the push frame 225 provides a longitudinally extending push surface, enabling the push rod to better push the unmanned aerial vehicle.

[0065] In addition, a pressing plate 230 for limiting the unmanned aerial vehicle and a pressing plate motor 231 for driving the pressing plate 230 to rotate are provided on the push frame 225. The pressing plate motor 231 is a DC motor. The pressing plate 230 is L-shaped, with one end connected to the motor shaft of the pressing plate motor 231 and the other end constituting the limiting end for the unmanned aerial vehicle. After the unmanned aerial vehicle is positioned, the DC motor rotates to drive the pressing plate 230 to press the unmanned aerial vehicle to ensure that the unmanned aerial vehicle does not shift when the battery 6 is removed.

[0066] In this embodiment, the apron bottom plate 202 is a light-transmitting plate and a lamp plate 228 is provided on the lower end surface, so as to ensure the normal landing of the unmanned aerial vehicle at night. In addition, a two-dimensional code plate 229 is provided on the upper surface of the apron bottom plate 202. A two-dimensional code is provided on the two-dimensional code plate 229, and the unmanned aerial vehicle can land by scanning the two-dimensional code for positioning.

[0067] 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 horizontally linearly pushed out of the airport body through the door 101 under the action of the multi-stage telescopic guide rail mechanism 3.

[0068] The multi-stage telescopic guide rail mechanism 3 in this embodiment includes a guide rail fixed seat 301. In this embodiment, the guide rail fixed seat 301 is fixedly installed inside the fixed-wing full-automatic vertical take-off and landing airport rack, and its relative position within the airport remains unchanged. Specifically, in this embodiment, the guide rail fixed seat 301 can be directly fixed to the bottom surface of the airport rack by bolts. The guide rail fixed seat 301 includes a fixed seat body 320, and a first-stage guide rail chute seat 304 is arranged on the fixed seat body 320. The guide rail fixed seat 301 further includes two first fixing plates 321 fixedly fixed to the fixed seat body 320. The two first fixing plates 321 are respectively arranged at both ends of the moving 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 positions at both ends of the apron body 2.

[0069] A first-stage guide rail 302 capable of horizontal linear motion is provided on the guide rail fixed seat 301. A second-stage guide rail 303 capable of horizontal linear motion is provided on the first-stage guide rail 302. The moving directions of the first-stage guide rail 302 and the second-stage guide rail 303 are the same. The apron body 2 is arranged on the second-stage guide rail 303. The apron body 2 can achieve two-stage telescoping under the combined action of the first-stage guide rail 302 and the second-stage guide rail 303, thereby solving the problem that the apron body 2 extends a short distance out of the airport due to the limited overall length range of the airport and the inability to install a longer guide rail, so that the final apron can extend a longer distance and ensure that there is no obstruction or interference caused by the airport structure during the take-off and landing of the fixed wing.

[0070] Specifically, in this embodiment, a first-stage guide rail chute seat 304 is provided on the guide rail fixed seat 301. A first-stage guide rail chute 305 is provided on the upper end surface of the first-stage guide rail chute seat 304. The first-stage guide rail 302 includes a first-stage moving plate 306. A first-stage guide rail slider 307 capable of sliding in the first-stage guide rail chute 305 is provided on the lower end surface of the first-stage moving plate 306. A second-stage guide rail chute seat 308 is provided on the upper end surface of the first-stage moving plate 306. A second-stage guide rail chute 309 is provided on the upper end surface of the second-stage guide rail chute seat 308. A second-stage guide rail slider 310 capable of sliding in the second-stage guide rail chute 309 is provided on the lower end surface of the second-stage guide rail 303. The lower end surface of the apron body 2 is fixed to the upper end surface of the second-stage guide rail 303.

[0071] A guide rail rack 311 with a length direction along the moving direction of the first-stage guide rail 302 is provided on the lower end surface of the first-stage moving plate 306. It further includes a guide rail driving motor 312. A guide rail gear 313 engaged with the guide rail rack 311 and used to drive the movement of the first-stage guide rail 302 is connected to the driving shaft of the guide rail driving motor 312. The first-stage telescoping of the apron body 2 can be achieved through the cooperation of the guide rail gear 313 and the guide rail rack 311.

[0072] In this embodiment, the specific structure of the secondary telescoping is given: that is, an extending mechanism for driving the secondary guide rail 303 to extend is further provided on the upper end surface of the primary moving plate 306. The extending mechanism includes a first rotating shaft 314 provided at the front end of the primary moving plate 306 in the extending direction. A rotatable first synchronous pulley 315 is provided on the first rotating shaft 314. A first double-sided synchronous belt 316 is engaged with the first synchronous pulley 315. The middle part of the first double-sided synchronous belt 316 bypasses the first synchronous pulley 315 and is engaged with the first synchronous pulley 315. Both ends of the first double-sided synchronous belt 316 extend towards the rear end of the primary moving plate 306 in the extending direction, and one end is connected to the rear end of the secondary guide rail 303 in the extending direction, and the other end is connected to the guide rail fixing seat 301.

[0073] A retracting mechanism for driving the secondary guide rail 303 to retract is further provided on the upper end surface of the primary moving plate 306. The retracting mechanism includes a second rotating shaft provided at the rear end of the primary moving plate 306 in the extending direction. A rotatable second synchronous pulley 318 is provided on the second rotating shaft. A second double-sided synchronous belt 319 is engaged with the second synchronous pulley 318. The middle part of the second double-sided synchronous belt 319 bypasses the second synchronous pulley 318 and is engaged with the second synchronous pulley 318. Both ends of the second double-sided synchronous belt 319 extend towards the front end of the primary moving plate 306 in the extending direction, and one end is connected to the front end of the secondary guide rail 303 in the extending direction, and the other end is connected to the guide rail fixing seat 301.

[0074] Among them, the end parts of the first double-sided synchronous belt 316 and the second double-sided synchronous belt 319 are respectively connected to the first fixing plates 321 at both ends. Second fixing plates 322 are provided at the front and rear ends of the secondary guide rail 303. The other end parts of the first double-sided synchronous belt 316 and the second double-sided synchronous belt 319 are respectively connected to the two second fixing plates 322.

[0075] The secondary telescoping mechanism in this embodiment is realized by a synchronous belt and a synchronous pulley. When the synchronous pulley moves following the primary moving plate 306 driven by the primary moving plate 306, one end of the synchronous belt on the synchronous pulley will remain stationary because it is connected to 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 following the primary guide rail 302 under the action of the synchronous pulley. The moving stroke of the end of the synchronous belt is twice the moving stroke of the synchronous pulley. Therefore, the secondary guide rail 303 will move relative to the primary guide rail 302 in the extending or retracting direction, realizing the secondary stroke of the apron, fully ensuring that the final apron body 2 can move to a position far enough from the airport to avoid airport interference with the takeoff and landing of fixed-wing aircraft.

[0076] At the same time, the secondary telescoping in this embodiment is not realized by separately setting a drive, but is cleverly driven by the primary telescoping movement, which can effectively reduce the drive mechanism, save resources, and then save costs.

[0077] In addition, in this embodiment, an airport battery replacement mechanism 4 is provided in the airport. The airport battery replacement mechanism 4 includes a charging pile 5 in the shape of a cuboid. A plurality of batteries 6 are stored at the charging pile 5. It further includes a battery replacement gripper 401 capable of gripping the battery 6 at the drone battery compartment 617 and the charging pile 5, and a gripper mounting mechanism 402 for mounting the battery replacement gripper 401. A gripper driving mechanism for driving the battery replacement gripper 401 to move in the three directions of the length, width, and height of the charging pile 5 is provided on the gripper mounting mechanism 402.

[0078] Among them, the gripper 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 rails 404 is connected between the two first guide rails 404. The second guide rail 405 can slide along the length direction of the first guide rail 404 on 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 length direction of the third guide rail 406 is vertically arranged. The battery replacement gripper 401 is connected to the third guide rail 406 and can slide up and down along the third guide rail 406.

[0079] The gripper driving mechanism includes a first lead screw, a second lead screw, and a third lead screw respectively installed on the first guide rail 404, the second guide rail 405, and the third guide rail 406. The axial directions of the first lead screw, the second lead screw, and the third lead screw are the same as the axial directions of the first guide rail 404, the second guide rail 405, and the third guide rail 406 respectively;

[0080] It further includes a first servo motor, a second servo motor, and a third servo motor respectively driving the first lead screw, the second lead screw, and the third lead screw to rotate. First sliders, second sliders, and third sliders capable of sliding along the first guide rail 404, the second guide rail 405, and the third guide rail 406 are respectively provided on the second guide rail 405, the third guide rail 406, and the battery replacement gripper 401. The first sliders, the second sliders, and the third sliders are respectively threadedly connected to the first lead screw, the second lead screw, and the third lead screw and can respectively move along the axial directions of the first lead screw, the second lead screw, and the third lead screw.

[0081] In this embodiment, a battery-changing jaw 401 in a fixed-wing electric fully vertical take-off and landing airport is provided, including a jaw body 407 arranged in the fixed-wing electric fully vertical take-off and landing airport. The jaw body 407 includes a pressure rod 408 that can move in the vertical direction and press against the upper end face of the battery 6 on the unmanned aerial vehicle. It also includes clamping plates 409 that can move relative to each other in the horizontal direction and clamp both sides of the battery 6 on the unmanned aerial vehicle. Among them, the jaw body 407 includes a horizontally arranged jaw mounting plate 410. One end of the jaw mounting plate 410 is provided with a vertically arranged slider mounting plate 411. A third slider is mounted on the slider mounting plate 411. The upper end of the clamping plate 409 constitutes a connection end mounted on the jaw mounting plate 410, and the lower end constitutes a clamping end for clamping the battery 6.

[0082] Positioning pins 425 are provided on the opposite surfaces of the clamping ends of the two clamping plates 409. A battery positioning hole 601 for inserting the positioning pin 425 is provided on the side of the battery 6 on the unmanned aerial vehicle. When clamping the battery 6 of the unmanned aerial vehicle, the positioning pin 425 will be stuck into the battery positioning hole 601, and then under the clamping action of the two clamping plates 409 and the pressing action of the pressure rod 408, the battery 6 can be stably clamped.

[0083] A clamping plate driving mechanism mounted on the lower surface of the jaw mounting plate 410 is provided between the two clamping plates 409. The two clamping plates 409 are respectively mounted on both sides of the clamping plate driving mechanism and can move towards or away from each other in the horizontal direction through the clamping plate driving mechanism. Among them, the clamping plate driving mechanism in this embodiment is a bidirectional lead screw motor. The upper end of the bidirectional lead screw motor is fixed on the lower surface of the jaw 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 lead screw motor. Under the action of the bidirectional lead screw motor, the two clamping plates 409 can stably clamp the battery 6, and then the replacement of the battery 6 of the unmanned aerial vehicle can be realized.

[0084] In this embodiment, a clamping plate slide rail 426 that is horizontally arranged and whose length direction is along the movement direction of the clamping plate 409 is provided on the lower surface of the jaw mounting plate 410. The upper end of the clamping plate 409 is connected to the clamping plate slide rail 426. The clamping plate 409 can slide along the length direction of the clamping plate slide rail 426 on the clamping plate slide rail 426 and is limited in 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 guiding function for the two clamping plates 409, ensure that the two clamping plates 409 can horizontally clamp the battery 6, ensure that the positioning pin 425 can smoothly enter the battery positioning hole 601, and at the same time ensure the uniformity of the clamping force of the clamping plate 409 on the side of the battery 6, and realize the stable clamping of the battery 6.

[0085] Among them, strip-shaped slide rail limiting grooves 412 are provided on both sides of the clamping plate slide rail 426 along the length direction of the clamping plate slide rail 426. A clamping plate slider 413 that cooperates with the clamping plate slide rail 426 is provided at the upper end of the clamping plate 409. A slider limiting protrusion 414 that cooperates with the slide rail limiting groove 412 is provided on the inner side surface of the clamping plate slider 413. The cooperation between the slide rail limiting groove 412 and the slider limiting protrusion 414 can realize the positioning function of the upper end of the clamping plate 409 and prevent the clamping plate 409 from separating from the slide rail in the vertical direction.

[0086] In this embodiment, a pressure rod mounting assembly is provided on the jaw mounting plate 410. The pressure rod mounting assembly includes a pressure rod linear bearing 403 mounted on the jaw mounting plate 410. The pressure rod 408 is slidably disposed in the pressure rod linear bearing 403. The pressure rod mounting assembly further includes a spring pressing member 415 provided at the lower end of the pressure rod 408. A pressure rod spring 416 that is sleeved on the pressure rod 408 and can press the pressure rod 408 downward is provided between the spring pressing member 415 and the pressure rod linear bearing 403. When it is necessary to press the battery 6, the pressure rod 408 will move downward under the action of the pressure rod spring 416 pressing the spring pressing member 415 until it abuts against the upper end surface of the battery 6, realizing the pressing of the pressure rod 408 on the battery 6.

[0087] In this embodiment, there are two pressure rods 408. The two pressure rods 408 can respectively press the two ends of the battery 6 along the length direction, ensuring the uniform stability of the 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 jaw mounting plate 410. The pressure rod mounting assembly further 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 disposed above the jaw mounting plate 410. The two pressure rods 408 at both ends are connected by the pressure rod limiting plate 417. On the one hand, it can realize the axial limiting of the pressure rod 408 and prevent the pressure rod 408 from separating 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 two pressure rods 408 at both ends, making the two pressure rods 408 at both ends apply uniform force to press the two ends of the battery 6 and ensuring the pressing stability of the battery 6.

[0088] In order to realize the elastic force adjustment of the pressure rod spring 416, an external thread is provided on the outer wall of the lower end of the pressure rod 408. The spring pressing member 415 is set as an adjusting nut threadedly connected to the lower end of the pressure rod 408. The lower end of the pressure rod spring 416 abuts against the adjusting nut. By changing the position of the adjusting nut on the pressure rod 408, different degrees of pressing of the pressure rod spring 416 can be realized, thereby changing the elastic force of the pressure rod spring 416, and then adjusting the downward movement stroke of the lower end of the pressure rod 408 to ensure that the pressure rod 408 can press batteries 6 of different heights.

[0089] In this embodiment, in order to ensure that the gripper can stably grip the battery 6 on the drone, a gripper positioning component 418 is further provided. The gripper positioning component 418 includes a positioning post 619 provided on the drone. The positioning post 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 provided on the gripper mounting plate 410 and capable of moving up and down in the vertical direction. A positioning block 420 is provided at the lower end of the guide rod 419, and a gripper positioning hole 421 that cooperates with the positioning post 619 on the drone is provided on the positioning block 420.

[0090] The gripper positioning component 418 includes a positioning linear bearing 422 installed on the lower surface of the gripper mounting plate 410. The guide rod 419 is slidably disposed within the positioning linear bearing 422. The upper end of the guide rod 419 can move above the gripper mounting plate 410, and a limiting flange 423 is provided at the upper end of the guide rod 419. A positioning recovery spring 424 is sleeved on the guide rod 419 between the positioning block 420 and the positioning linear bearing 422. In addition, a sensor for detecting whether the positioning post 619 is inserted into the gripper positioning hole 421 is provided at the upper end of the guide rod 419. The sensor in this embodiment is a groove type photoelectric sensor, which is used to detect the descending distance of the guide rod 419 to determine whether the positioning post 619 is inserted into the gripper positioning hole 421.

[0091] When the battery 6 of the drone needs to be replaced, the power exchange gripper 401 is operated to the battery compartment of the drone through the gripper driving mechanism, so that the gripper positioning hole 421 on the positioning plate is aligned with the positioning post 619 on the drone. Then, the power exchange gripper 401 is moved downward from top to bottom until the positioning post 619 is positioned in the gripper positioning hole 421. Since the positioning block 420 is connected by the guide rod 419 that can move up and down, the positioning block 420 can adapt to drones of different heights, ensuring that the positioning block 420 can be successfully positioned on the surface of the drone. After the positioning post 619 is inserted into the gripper positioning hole 421, the first positioning between the power exchange gripper 401 and the drone battery compartment 617 is achieved, laying a prerequisite for the subsequent gripping of the battery 6.

[0092] 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. The clamping plates 409 move towards each other under the action of the clamping plate driving mechanism, clamp the side of the battery 6, and make the positioning pin 425 inserted into the battery positioning hole 601, realizing the second positioning of the power exchange gripper 401 to the battery 6. Through the two-positioning, the pressing of the pressure rod 408, and the clamping of the clamping plates 409, the stability of the power exchange gripper 401 in gripping the battery 6 and the accuracy of replacing the battery 6 between the drone battery compartment 617 and the power exchange compartment during the power exchange process can be fully ensured.

[0093] After the battery swapping jaw 401 is completely positioned with the battery 6 and holds the battery 6 stably, the battery swapping jaw 401 is lifted by the jaw driving mechanism, and then the battery swapping jaw 401 is moved above the charging pile 5 so that the battery 6 is aligned with the battery slot on the charging pile 5 where the battery 6 is not placed. Then, the battery swapping jaw 401 is lowered to place the battery 6 into the battery slot for charging.

[0094] 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 swapping work of the drone.

[0095] Among them, in this embodiment, a charging pile 5 is provided inside the drone airport body. A plurality of battery slots for placing the battery 6 are provided on the upper end surface of the charging pile 5. The battery 6 for the drone is provided in the battery slot. The battery 6 includes a battery body 602. Clamping portions 603 are provided on both side surfaces of the battery body 602 along the length direction. Among them, the outer surface of the clamping portion 603 is configured as a serrated clamping surface, and a battery positioning hole 601 is provided at the middle position of the clamping portion 603 with an axis perpendicular to the side surface of the battery body 602 and opening towards the outside of the battery body 602.

[0096] When replacing the battery 6, the clamping plates 409 on the battery swapping jaw 401 will clamp the clamping portions 603 on both sides of the battery body 602. At the same time, the positioning pins 425 on the clamping plates 409 that cooperate with the battery positioning holes 601 will be positioned in the battery positioning holes 601 on the side surface of the battery 6. The setting of the battery positioning holes 601 enables the drone to cooperate with the positioning pins 425 on the battery swapping jaw 401 when replacing the battery in the airport. When clamping the drone battery 6, the positioning pins 425 on the battery swapping jaw 401 will be stuck into the battery positioning holes 601 to ensure stable clamping of the battery 6. The serrated clamping surface can further increase the friction force between the battery swapping jaw 401 and the clamping portion 603, and further improve the stability of the battery 6 being clamped.

[0097] In this embodiment, in order to ensure the stability of the battery 6 fixture, the clamping portions 603 on both sides of the battery body 602 are symmetrically arranged, and the clamping portion 603 is on the center line in the length direction of the battery body 602, which can ensure that the battery 6 is evenly stressed when being clamped.

[0098] In this embodiment, the clamped part 603 includes a latch frame 604 provided on the outer side surface of the battery body 602 and a movable latch 605 provided in the latch frame 604. The latch frame 604 and the outer side surface of the battery body 602 together form a latch installation groove 606. The outer end surface of the movable latch 605 constitutes a serrated clamped surface and protrudes from the latch installation groove 606. A connecting shaft 607 is provided at the upper end of the movable latch 605, and a battery fastening part 608 is provided at the lower end. A fastening part limiting hole 609 for the battery fastening part 608 to protrude from the latch installation groove 606 is provided on the lower side wall of the latch frame 604. The movable latch 605 can rotate around the connecting shaft 607 towards the inside of the latch installation groove 606 under the action of an external force. A return spring 610 for driving the movable latch 605 to rotate towards the outside of the latch installation groove 606 is provided between the movable latch 605 and the outer side surface of the battery body 602. Among them, a spring post 611 perpendicular to the outer side surface of the battery body 602 is provided on the inner side surface of the movable latch 605. The return spring 610 is sleeved on the spring post 611, with one end abutted against the inner side surface of the movable latch 605 and the other end abutted against the outer side surface of the battery body 602.

[0099] In addition, open upward connecting shaft grooves 612 are provided at the upper ends of both side walls of the latch installation groove 606. Both ends of the connecting shaft 607 are inserted into the connecting shaft grooves 612 from top to bottom, and a latch cover plate 614 is provided at the upper end of the latch installation groove 606. The latch cover plate 614 includes a pressing plate main body 615. Protrusions 616 extending into the latch installation groove 606 to block the openings of the connecting shaft grooves 612 are provided at both ends of the lower end surface of the pressing plate main body 615. Both ends of the pressing plate main body 615 are connected to the battery body 602 by pins. The setting of the latch cover plate 614 can effectively prevent the connecting shaft 607 from disengaging from the connecting shaft groove 612 and ensure the structural stability of the entire latch structure.

[0100] When the UAV needs to replace the battery 6 inside the airport, first align the gripper positioning hole 421 of the positioning block 420 on the gripper positioning component 418 with the positioning post 619 on the UAV, and then move the battery replacement gripper 401 downward from top to bottom until the positioning post 619 is positioned into the gripper positioning hole 421, so as to position the battery replacement gripper 401 at 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 replacement gripper 401 and the battery 6. Next, the clamping plate 409 applies force to the outer surface of the movable lock 605, so that the movable lock 605 rotates around the connecting shaft 607 against the action of the return spring 610. At this time, the battery fastening part 608 at the lower end of the movable lock 605 moves toward the inside of the battery 6 following the movable lock 605, realizing the unlocking between the battery fastening part 608 and the UAV fastening part 618 in the UAV battery compartment 617. At this time, the battery replacement gripper 401 can take out the battery 6 from the UAV battery compartment 617, and after taking it out, it can be moved into the airport battery compartment inside the airport for charging. Through the joint cooperation of the battery 6 itself and the battery replacement gripper 401, the unlocking between the battery 6 and the UAV battery compartment 617 is realized, and the clamping of the battery 6 is also realized.

[0101] The fixed-wing airport with full-automatic vertical take-off and landing of fixed power in this embodiment has a detachable wing storage cavity. The airport body of the fixed-wing airport with full-automatic vertical take-off and landing of fixed power includes an airport main body 7. A main storage cavity 701 for the horizontal entry of the UAV and for storing the main part of the UAV is provided inside the airport main body 7. Removable wing storage shells 702 are symmetrically connected to both sides of the airport main body 7. The inside of the wing storage shell 702 forms a wing storage cavity 703 that communicates with the main storage cavity 701 and is used for storing the wing part of the UAV.

[0102] In this embodiment, the airport body is designed as a detachable structure to realize separate transportation during airport transportation. While effectively storing the wings and propellers of the fixed-wing UAV, it can also reduce the volume and mass of the airport, reduce the floor area, and facilitate disassembly and transportation through the detachable method.

[0103] The front end faces of the main storage cavity 701 and the wing storage cavity 703 together form a UAV entrance and exit 704. The frame of the UAV entrance and exit 704 forms a door frame 103. A door body 101 is provided at the door frame 103. The door body 101 includes a main door body 705 that can cover the front end face of the main storage cavity 701 and auxiliary door bodies 706 that are detachably arranged on both sides of the main door body 705 and can respectively cover the front end faces of the wing storage cavities 703 on both sides. The door body is also designed in a detachable manner, which can further realize the disassembly of the UAV airport, further reduce the weight and volume of the airport, reduce the transportation difficulty and cost, and improve the transportation convenience.

[0104] In this embodiment, in order to achieve the connection stability at the disassembly location on the airport, the main body receiving cavity 701 is a U-shaped receiving cavity with an opening at the front end face. On both side walls of the main body receiving cavity 701, there are housing installation openings 707 whose front ends extend to the front end face of the main body receiving cavity 701 to form the front opening. The end of the wing receiving housing 702 connected to the airport main body 7 is a housing opening end 708 corresponding to the housing installation opening 707. The housing opening end 708 and the housing installation opening 707 are connected by bolts.

[0105] Meanwhile, on the inner wall of the housing installation opening 707, a first installation frame strip 709 is vertically provided. The first installation frame strip 709 and the inner wall of the housing installation opening 707 together form an installation step groove. The housing opening end 708 is provided with a second installation frame strip 711 that can be inserted into the installation step groove and fit with the first installation frame strip 709. The first installation frame strip 709 and the second installation frame strip 711 are connected by bolts. The secondary door body 706 and the main door body 705 are connected by bolts.

[0106] The connection at the disassembly location is achieved by bolts, making its assembly and disassembly very convenient. In addition, there are mutually cooperating installation parts between the wing receiving housing 702 and the airport main body 701, which can make the assembly between the two more stable and ensure the stability of the overall airport structure.

[0107] In this embodiment, on the front end face of the door frame 103, there is a U-shaped card slot 712 that is connected end to end and opens outward. At the edge of the rear end face of the door body, there is a U-shaped rib 710 that can be inserted into the U-shaped card slot 712 and is connected end to end. Between the U-shaped card slot 712 and the U-shaped rib 710, there is a sealing strip that seals the gap between the door body 101 and the door frame 103. The setting of the sealing strip can achieve the waterproof function at the door body 101 and prevent rainwater from entering the airport interior through the opening and closing part of the door body 101.

[0108] Among them, the main door body 705 is connected to the front end face of the main body receiving cavity 701 through a link mechanism 102 and can swing upward to open. This opening and closing method occupies less space both for the door body 101 itself and the stroke required for the opening and closing of the door body 101, which can greatly save space. At the same time, it also has the characteristics that the overall production and assembly are relatively simple.

[0109] In this embodiment, the fixed-wing airport with fixed power and full automation has a monitoring system. Among them, the airport body includes an airport housing 8. On the airport housing 8, there is a UAV inlet and outlet 704. Outside the airport housing 8, there is a weather station 801 for detecting the external meteorological data of the airport and a video monitoring module 802 for monitoring the UAV inlet and outlet 704; inside the airport housing 8, there are a fire prevention module and a temperature control module.

[0110] Among them, the video monitoring module 802 includes a camera 803 that can face the UAV inlet / outlet 704. The temperature control module includes a temperature sensor for detecting the internal temperature of the airport housing 8 and a cooling fan disposed inside the airport housing 8 for dissipating heat from the airport housing 8 according to the temperature detected by the temperature sensor. A heat dissipation vent 816 is provided on the rear side of the airport housing 8. The fire prevention module includes a smoke sensor, which is disposed on the upper end surface of the airport housing 8 and at the middle position of the airport housing 8. The weather station 801 includes a mast 817 installed on the airport housing 8 and a micro-meteorological module 818 disposed on the mast 817. The micro-meteorological module 818 includes a temperature sensor, a humidity sensor, a barometric pressure sensor, a wind speed sensor, a wind direction sensor, and a rainfall sensor that can respectively detect temperature, humidity, barometric pressure, wind speed, wind direction, and rainfall.

[0111] By means of a monitoring system composed of a weather station 801, a video monitoring module 802, a fire prevention module, and a temperature control module provided on a fixed-wing fully automatic vertical takeoff and landing airport powered by electricity, monitoring of all aspects of the fixed-wing fully automatic vertical takeoff and landing airport powered by electricity is realized, and the monitoring data can be communicated to the airport controller, and the airport controller will upload it to the background control terminal. In this way, technicians can obtain real-time information, and can not only perform meteorological monitoring, video monitoring, fire prevention warning, temperature regulation, etc. according to the detected information, but also maintain the fixed-wing fully automatic vertical takeoff and landing airport powered by electricity according to the real-time information.

[0112] In this embodiment, the UAV inlet / outlet 704 is provided on the front side of the airport housing 8. A door body is provided at the UAV inlet / outlet 704. The video monitoring module 802 is disposed on the top end surface of the airport housing 8 near the UAV inlet / outlet 704. Among them, the video monitoring module 802 further includes a camera bracket 804. The camera bracket 804 includes a lower fixing seat 805 installed on the outer surface of the airport housing 8 and an upper fixing seat 806 installed on the lower fixing seat 805. The camera 803 is installed on the upper fixing seat 806, and the upper fixing seat 806 can rotate relative to the lower fixing seat 805 to realize the rotation of the camera 803 in the front and rear directions.

[0113] Both the upper fixing seat 806 and the lower fixing seat 805 are U-shaped plates, and the U-shaped openings are oppositely arranged and the side walls are semi-circular. The outer surface of the side wall of the lower fixing seat 805 is slidably matched with the inner surface of the side wall of the upper fixing seat 806. The side wall of the lower fixing seat 805 and the side wall of the upper fixing seat 806 are rotatably connected by a rotating pin 807. An arc-shaped limiting hole 808 bent toward the rotation position of the rotating pin 807 is further provided on the side wall of the upper fixing seat 806. A fixing pin 809 connected to the arc-shaped limiting hole 808 is provided on the side wall of the lower fixing seat 805 to limit the rotation of the upper fixing seat 806.

[0114] On the upper end wall of the upper fixing seat 806, there are two long strip-shaped movable mounting holes 810 arranged at intervals and with the length direction along the front and rear direction of the camera 803. There is a fixed mounting hole 811 between the two movable mounting holes 810. A camera mounting plate 812 is fixed at the bottom of the camera 803, and there are two camera mounting holes 813 on the camera mounting plate 812 that can be correspondingly connected to the movable mounting holes 810 and the fixed mounting hole 811 respectively.

[0115] In this embodiment, the camera 803 is mounted on the airport housing 8 through a camera bracket 804. The camera bracket 804 is formed by connecting upper and lower fixing seats 805. The two can rotate relative to each other so that the camera orientation of the camera 803 can be adjusted according to actual needs. After adjusting to the required angle, the two can also be limited by a fixing pin 809 to ensure the stability of the camera 803 shooting.

[0116] In addition, at the center position of the lower end wall of the lower fixing seat 805, there are a bracket mounting hole 814 and a plurality of arc-shaped long holes 815 evenly arranged around the bracket mounting hole 814. When the camera bracket 804 is mounted on the airport body, the installation is realized through the bracket mounting hole 814 and the plurality of arc-shaped long holes 815 evenly arranged around the bracket mounting hole 814. The bracket mounting hole 814 realizes the positioning of the camera bracket 804 on the airport housing 8, and the arc-shaped long holes 815 realize the stable installation of the camera bracket 804 on the airport housing 8. And the setting method of the arc-shaped long holes 815 can make 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, and it can adapt to airport housings 8 of different shapes.

[0117] When the camera 803 in this embodiment is mounted on the camera bracket 804, it is mounted through the two camera mounting holes 813 on the camera mounting plate 812. The distances between the camera mounting holes 813 on different cameras 803 are different. In order to adapt to the installation of different cameras 803, in this embodiment, on the upper end wall of the upper fixing seat 806, there are two long strip-shaped movable mounting holes 810 arranged at intervals and with the length direction along the front and rear direction of the camera 803. There is a fixed mounting hole 811 between the two movable mounting holes 810, so that one camera mounting hole 813 is connected to the fixed mounting hole 811, and the other camera mounting hole 813 is connected to the long strip-shaped movable mounting hole 810. The bolt can be at different positions in the movable mounting hole 810 according to the distance between the two camera mounting holes 813, so that the camera bracket 804 can more flexibly adapt to the installation of different cameras 803.

[0118] In short, the above are only the preferred embodiments of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention shall fall within the scope covered by the patent of the present invention.

Claims

1. A battery swapping mechanism, characterized in that: It includes a charging pile (5) in the shape of a cuboid, where multiple batteries (6) are stored. It also includes a battery swapping jaw (401) capable of gripping the batteries (6) at the drone battery compartment and at the charging pile (5), and a jaw mounting mechanism (402) for mounting the battery swapping jaw (401). The jaw mounting mechanism (402) is provided with a jaw driving mechanism for driving the battery swapping jaw (401) to move in three directions along the length, width, and height of the charging pile (5). The battery swapping jaw (401) includes a jaw body (407). The jaw body (407) includes a pressing rod (408) capable of moving in the vertical direction and pressing against the upper end face of the battery (6) on the drone, and also includes clamping plates (409) capable of moving relative to each other in the horizontal direction and clamping the two sides of the battery (6) on the drone. Positioning pins (425) are provided on the opposite and facing surfaces of the clamping ends of the two clamping plates (409). A battery positioning hole (601) for inserting the positioning pin (425) is provided on the side surface of the battery (6) on the drone. It also includes a jaw positioning component (418). The jaw positioning component (418) includes a positioning post (619) provided on the drone, and also includes a guide rod (419) provided on the jaw mounting plate (410) and capable of moving up and down in the vertical direction. A positioning block (420) is provided at the lower end of the guide rod (419), and a jaw positioning hole (421) matching the positioning post (619) on the drone is provided on the positioning block (420). The battery (6) includes a battery body (602). On both side surfaces of the battery body (602) along the length direction, there are clamped portions (603). The clamped portion (603) includes a lock frame (604) provided on the outer side surface of the battery body (602) and a movable lock (605) provided in the lock frame (604). The lock frame (604) and the outer side surface of the battery body (602) together form a lock mounting groove (606). The outer end surface of the movable lock (605) forms a serrated clamped surface and protrudes from the lock mounting groove (606). A connecting shaft (607) is provided at the upper end of the movable lock (605), and a battery latching portion (608) is provided at the lower end. A latching portion limiting hole (609) for the battery latching portion (608) to extend out of the lock mounting groove (606) is provided on the lower side wall of the lock frame (604). A return spring (610) for driving the movable lock (605) to rotate towards the outside of the lock mounting groove (606) is provided between the movable lock (605) and the outer side surface of the battery body (602). Among them, a spring post (611) perpendicular to the outer side surface of the battery body (602) is provided on the inner side surface of the movable lock (605). The return spring (610) is sleeved on the spring post (611) and one end abuts against the inner side surface of the movable lock (605), and the other end abuts against the outer side surface of the battery body (602). After the positioning pin (425) on the clamping plate (409) is inserted into the battery positioning hole (601) on the side wall of the battery (6) to achieve the positioning between the battery-changing jaw (401) and the battery (6), the clamping plate (409) applies force to the outer surface of the movable latch (605), causing the movable latch (605) to rotate around the connecting shaft (607) against the action of the return spring (610). At this time, the battery fastening part (608) at the lower end of the movable latch (605) moves towards the inside of the battery (6) following the movable latch (605), thereby unlocking the battery fastening part (608) and the drone fastening part (618) in the drone battery compartment (617).

2. The power exchange mechanism according to claim 1, characterized in that: The jaw 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 rails (404) is connected between the two first guide rails (404). The second guide rail (405) can slide along the length direction of the first guide rails (404) on the first guide rails (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 length direction of the third guide rail (406) is vertically arranged. The battery-changing jaw (401) is connected to the third guide rail (406) and can slide up and down along the third guide rail (406).

3. The power exchange mechanism according to claim 1, characterized in that: The jaw body (407) includes a horizontally arranged jaw mounting plate (410). One end of the jaw mounting plate (410) is provided with a vertically arranged slider mounting plate (411). A guide rail slider that can slide up and down on the third guide rail is installed on the slider mounting plate (411). The upper end of the clamping plate (409) constitutes a connection end mounted on the jaw mounting plate (410), and the lower end constitutes a clamping end for clamping the battery (6). A clamping plate driving mechanism is installed on the lower surface of the jaw mounting plate (410) 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 two clamping plates (409) are moved towards or away from each other in the horizontal direction through the clamping plate driving mechanism.

4. The power exchange mechanism according to claim 3, characterized in that: A clamping plate slide rail (426) that is horizontally arranged and has a length direction along the movement direction of the clamping plate (409) is provided on the lower surface of the jaw mounting plate (410). The upper end of the clamping plate (409) is connected to the clamping plate slide rail (426). The clamping plate (409) can slide along the length direction of the clamping plate slide rail (426) on the clamping plate slide rail (426) and is limited in the length direction of the clamping plate (409).

5. The power exchange mechanism according to claim 4, characterized in that: Long strip-shaped slide rail limiting grooves (412) that are arranged along the length direction of the clamping plate slide rail (426) are provided on both sides 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). A slider limiting protrusion (414) that cooperates with the slide rail limiting groove (412) is provided on the inner side surface of the clamping plate slider (413).

6. The power exchange mechanism according to claim 3, characterized in that: A pressure rod mounting assembly is provided on the jaw mounting plate (410). The pressure rod mounting assembly includes a linear bearing (403) of the pressure rod mounted on the jaw mounting plate (410). The pressure rod (408) is slidably disposed within the linear bearing (403) of the pressure rod. The pressure rod mounting assembly further includes a spring extrusion member (415) provided at the lower end of the pressure rod (408). A pressure rod spring (416) that is sleeved on the pressure rod (408) and can extrude the pressure rod (408) downward is provided between the spring extrusion member (415) and the linear bearing (403) of the pressure rod.

7. The power exchange mechanism according to claim 6, characterized in that: External threads are provided on the outer wall of the lower end of the pressure rod (408). The spring extrusion member (415) is an adjusting nut threadedly connected to the lower end of the pressure rod (408). The lower end of the pressure rod spring (416) abuts against the adjusting nut.

8. A battery swapping mechanism according to claim 6 or 7, characterized in that: There are two pressure rods (408). The two pressure rods (408) can respectively press both ends of the battery (6) in the length direction. The upper end of the pressure rod (408) can move above the jaw mounting plate (410). The pressure rod mounting assembly further 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 disposed above the jaw mounting plate (410).

9. The power exchange mechanism according to claim 1, characterized in that: The jaw positioning assembly (418) includes a positioning linear bearing (422) mounted on the lower surface of the jaw mounting plate (410). The guide rod (419) is slidably disposed within the positioning linear bearing (422). The upper end of the guide rod (419) can move above the jaw mounting plate (410) and a limiting flange (423) is provided at the upper end of the guide rod (419). A positioning return spring (424) is sleeved on the guide rod (419) and is provided between the positioning block (420) and the positioning linear bearing (422).

10. Fixed-wing airport with fully automatic vertical takeoff and landing for power supply, characterized in that, It includes a power swapping mechanism according to any one of claims 1-9.

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