Unmanned aerial vehicle charging and changing machine shed

Abstract

The application discloses an unmanned aerial vehicle (UAV) charging and battery replacing hangar, which comprises a hangar shell, a battery replacing module, a charging module and a parking platform arranged in the hangar shell. The parking platform is connected with the inner wall of the hangar shell and used for parking the UAV. The charging module is fixedly connected with the parking platform and used for charging the UAV. The battery replacing module comprises a battery replacing arm and a battery box, and the battery replacing arm and the battery box are connected with the inner wall of the hangar shell. The battery replacing arm is used for taking down the battery to be replaced on the UAV, putting the battery into the battery box and mounting the fully-charged battery in the battery box to the UAV. The battery comprises the battery to be replaced and the fully-charged battery. The charging module can charge the UAV parked on the parking platform, and the battery replacing module can replace the battery in the UAV parked on the parking platform. Therefore, the UAV charging and battery replacing hangar can charge the UAV or replace the battery according to actual requirements, and the problem that the UAV hangar has a single function in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of unmanned aerial vehicle hangar, and particularly relates to an unmanned aerial vehicle charging and battery replacing hangar. BACKGROUND

[0002] An unmanned aerial vehicle is a flight vehicle without people on board, which is controlled by using radio remote control equipment and self-provided program control device. The unmanned aerial vehicle needs to rely on electric power for operation. When the electric quantity in the battery on the unmanned aerial vehicle is lower than a set value, the unmanned aerial vehicle needs to return to charge or replace the battery.

[0003] However, the existing unmanned aerial vehicle hangar has single function, and can only charge the unmanned aerial vehicle or replace the battery of the unmanned aerial vehicle. SUMMARY

[0004] The present application aims to provide an unmanned aerial vehicle charging and battery replacing hangar to solve the problem of single function of the existing unmanned aerial vehicle hangar.

[0005] The technical scheme of the present application is as follows:

[0006] An unmanned aerial vehicle charging and battery replacing hangar comprises a hangar shell, a battery replacing module, a charging module and a parking platform, wherein the parking platform is connected with the inner wall of the hangar shell and used for parking the unmanned aerial vehicle, the charging module is fixedly connected with the parking platform and used for charging the unmanned aerial vehicle, and the battery replacing module is arranged in the hangar shell.

[0007] The battery replacing module comprises a battery replacing arm and a battery box, wherein the battery replacing arm and the battery box are connected with the inner wall of the hangar shell, the battery replacing arm is used for taking down the battery to be replaced on the unmanned aerial vehicle and putting the battery into the battery box, and the battery box is used for installing the fully charged battery in the battery box to the unmanned aerial vehicle; and the battery comprises the battery to be replaced and the fully charged battery.

[0008] Preferably, an opening is arranged on the parking platform.

[0009] The charging module comprises a lifting assembly and a moving assembly, wherein the lifting assembly is fixedly connected with the lower part of the parking platform, the output end of the lifting assembly is connected with the moving assembly, the output end of the moving assembly is connected with a charging connector, the lifting assembly is used for driving the moving assembly to make lifting movement and driving the charging connector to extend out of or retract into the opening, and the moving assembly is used for driving the charging connector to move, and the two ends of the moving path of the moving assembly correspond to the opening and the charging connector on the unmanned aerial vehicle respectively.

[0010] Preferably, a flip cover is rotatably connected with the opening, and the flip cover is used for closing the opening.

[0011] After the lifting assembly drives the charging connector to ascend to the position where the charging connector contacts the flip cover, the charging connector drives the flip cover to rotate towards the upper side of the parking platform, so that the charging connector extends out of the opening.

[0012] Preferably, the lifting assembly comprises a lifting fixed part and a push rod which performs telescopic motion relative to the lifting fixed part, the lifting fixed part is connected with the parking platform, and the moving assembly is fixedly connected to the push rod and performs lifting motion with the telescopic motion of the push rod.

[0013] Preferably, the moving assembly comprises a charging guide, a charging connector mounting part and a charging driving part.

[0014] The charging guide is connected with the output end of the lifting assembly, the charging connector mounting part is in sliding connection with the charging guide, and the charging connector mounting part slides along the length direction of the charging guide, and the charging connector is connected with the charging connector mounting part.

[0015] The output end of the charging driving part is connected with the charging connector mounting part, and the charging driving part is configured to drive the charging connector mounting part to slide relative to the charging guide.

[0016] Preferably, the charging driving part comprises a charging lead screw and a charging driving member.

[0017] The charging lead screw is connected with the charging guide, and the length direction of the charging lead screw is parallel to the length direction of the charging guide, the charging lead screw penetrates through the charging connector mounting part and is in threaded connection with the charging connector mounting part.

[0018] The charging driving member is connected with the charging lead screw, and the charging driving member is configured to drive the charging lead screw to rotate, and the rotation of the charging lead screw drives the charging connector mounting part to slide relative to the charging guide.

[0019] Preferably, the moving assembly comprises two charging connector mounting parts, the two charging connector mounting parts are respectively connected with the charging connector, and the two charging connectors are oppositely arranged.

[0020] The charging lead screw has a first threaded section and a second threaded section along the length direction of the charging lead screw, the first threaded section and the second threaded section have opposite rotation directions, and the two charging connector mounting parts are respectively arranged at the first threaded section and the second threaded section.

[0021] Preferably, the parking platform comprises a platform body and a folding platform, the unmanned aerial vehicle is parked on the platform body, and the folding platform is in rotary connection with the platform body.

[0022] A folding driving part is fixedly connected below the platform body, an output end of the folding driving part is connected with the folding platform, and the folding driving part is used for driving the folding platform to rotate relative to the platform body.

[0023] Preferably, the battery replacing arm comprises an X-axis assembly, a Y-axis assembly and a mechanical head.

[0024] The X-axis assembly is fixedly connected to the inner wall of the hangar shell, the Y-axis assembly is fixedly connected to the output end of the X-axis assembly, and the mechanical head is fixedly connected to the output end of the Y-axis. The X-axis assembly is used for driving the Y-axis assembly to move along the X-axis, the Y-axis assembly is used for driving the mechanical head to move along the Y-axis, and the mechanical head itself realizes movement along the Z-axis.

[0025] The mechanical head is used for grabbing the battery.

[0026] The X-axis assembly and the Y-axis assembly are arranged in a fixed gap between one side edge of the parking platform and the side wall of the hangar shell, and the plane where the X-axis and the Y-axis are located intersects the Z-axis.

[0027] Preferably, the mechanical head comprises:

[0028] A mechanical head track, a track sliding direction of which is aligned with the battery of the unmanned aerial vehicle;

[0029] A placing assembly, which is slidingly connected to the mechanical head track along the track sliding direction, has a battery slot for placing the battery, and a slot opening of the battery slot is aligned with the battery on the unmanned aerial vehicle. An inner wall corresponding to the slot opening in the battery slot is an inner bottom wall.

[0030] A grabbing assembly, which comprises a sliding part and a grabbing part. The sliding part penetrates through the inner bottom wall and is slidingly connected thereto. One end of the sliding part, which is located at the two ends of the sliding direction and faces the unmanned aerial vehicle, is connected with the grabbing part. The grabbing part is used for grabbing the battery and pulling or pushing the battery into or out of the battery slot under the driving of the sliding part.

[0031] A driving assembly, which is connected with one end of the two ends of the sliding direction of the sliding part and the placing assembly respectively, is used for driving the placing assembly to slide along the mechanical head track and driving the sliding part to slide relative to the inner bottom wall.

[0032] Preferably, the grabbing part comprises a grabbing driving part and a rotating buckle. The grabbing driving part is fixedly connected to the sliding part, an output end of the grabbing driving part is connected with the rotating buckle, and the grabbing driving part is used for driving the rotating buckle to rotate.

[0033] The rotating buckle is non-circular in shape, and the rotating buckle is used for entering a rotating buckle slot on the battery and rotating to realize connection with the battery.

[0034] Preferably, the mechanical head further comprises an unlocking member and an unlocking driving member;

[0035] The unlocking driving member is fixedly connected to the battery groove, and the output end of the unlocking driving member is connected to the unlocking member.

[0036] Preferably, the placing assembly comprises a placing mounting base and the battery groove, and the battery groove is connected to the placing mounting base.

[0037] The grabbing assembly further comprises a grabbing mounting base, and the sliding part is connected to the grabbing mounting base.

[0038] The driving assembly is connected to the placing mounting base and the grabbing mounting base respectively, and is used to drive the placing mounting base and the grabbing mounting base to slide.

[0039] Preferably, the driving assembly comprises a mechanical head driving member, a mechanical head screw rod and an elastic member.

[0040] The two ends of the mechanical head screw rod are rotatably connected to the mechanical head track respectively, and the mechanical head screw rod is parallel to the sliding direction of the track.

[0041] The mechanical head driving member is fixedly connected to the mechanical head track, and the output end of the mechanical head driving member is connected to the mechanical head screw rod.

[0042] The mechanical head driving member drives the mechanical head screw rod to rotate, drives the grabbing mounting base to move along the mechanical head track, and drives the placing mounting base to move along the mechanical head track under the action of the elastic member.

[0043] Compared with the prior art, the application has the following advantages and positive effects:

[0044] The unmanned aerial vehicle charging and battery replacing machine garage provided by the application can charge or replace the battery of the unmanned aerial vehicle according to actual needs, and solves the problem of single function of the unmanned aerial vehicle garage in the prior art. BRIEF DESCRIPTION OF DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not intended to limit the scope of the application.

[0046] Figure 1 A structural schematic diagram of an unmanned aerial vehicle charging and battery replacing machine garage according to the application;

[0047] Figure 2 A battery replacing state schematic diagram of an unmanned aerial vehicle charging and battery replacing machine garage according to the application;

[0048] Figure 3 A structural schematic diagram of a platform body and a folding platform according to the application;

[0049] Figure 4 A structural schematic diagram of a platform body and a folding platform in another state according to the application;

[0050] Figure 5 A structural schematic diagram of a charging module and a parking platform according to the application;

[0051] Figure 6 Another angle structural schematic diagram of a charging structure and a parking platform according to the application;

[0052] Figure 7 A structural schematic diagram of a flip cover according to the application;

[0053] Figure 8 A structural schematic diagram of a charging module according to the application;

[0054] Figure 9 A charging state schematic diagram of an unmanned aerial vehicle charging and battery replacing machine garage according to the application;

[0055] Figure 10 A structural schematic diagram of a battery replacing arm according to the application;

[0056] Figure 11 A structural schematic diagram of an X-axis assembly according to the application;

[0057] Figure 12 A structural schematic diagram of a mechanical head according to the application;

[0058] Figure 13 Fig. 1 is a schematic view of a partial structure of a mechanical head according to the present application;

[0059] Figure 14 Fig. 2 is a schematic view of a structure at a battery of a UAV matched with the mechanical head according to the present application.

[0060] Legend of reference signs:

[0061] 1: UAV; 2: platform body; 3: folding platform; 4: telescopic structure; 5: connecting piece; 6: roller; 7: parking area; 8: flip cover; 9: flip cover pad; 10: hinge rod; 11: hinge seat;

[0062] 12: charging mounting plate; 13: outer shell of electric telescopic rod; 14: push rod; 15: push rod clamp; 16: charging mounting seat; 17: charging guide; 18: charging lead screw; 19: charging connector mounting piece; 20: charging connector; 21: charging drive mounting seat; 22: charging drive;

[0063] 23: battery replacement arm; 24: X-axis assembly; 25: Y-axis assembly; 26: mechanical head; 27: moving slide rail; 28: moving lead screw; 29: moving drive; 30: moving slide block;

[0064] 31: mechanical head track; 32: battery slot; 33: placing mounting seat; 34: unlocking piece; 35: locking piece; 36: grabbing mounting seat; 37: sliding rod; 38: spring; 39: grabbing mounting plate; 40: rotating buckle; 41: rotating drive; 42: battery mounting piece; 43: rotating buckle hole; 44: mechanical head lead screw; 45: mechanical head drive; 46: limiting piece; 47: mechanical head mounting seat; 48: protective cover;

[0065] 49: battery box; 50: battery (including battery to be replaced and fully charged battery); 51: charging module. DETAILED DESCRIPTION

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, specific embodiments of the present application will be described below with reference to the drawings. Obviously, the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained from these drawings without creative labor, and other embodiments can also be obtained.

[0067] For the purpose of simplicity and brevity of the drawings, only the parts related to the present application are shown in the drawings, which do not represent the actual structure of the product. In addition, for the purpose of simplicity and brevity of the drawings, in some drawings, only one of the parts with the same structure or function is shown schematically, or only one of them is marked. In this text, "one" not only means "only one", but also means "more than one".

[0068] Referring to Figures 1 to 14 The embodiment provides a UAV charging and battery replacing hangar, which comprises a hangar shell and a battery replacing module, a charging module 51 and a parking platform arranged in the hangar shell. The parking platform is connected to the inner wall of the hangar shell and used for parking a UAV 1. The charging module 51 is fixed to the parking platform and used for charging the UAV 1.

[0069] The battery replacing module comprises a battery replacing arm 23 and a battery box 49, both of which are connected to the inner wall of the hangar shell. The battery replacing arm 23 is used for taking down a battery 50 to be replaced on the UAV 1 and placing it into the battery box 49, and installing a fully charged battery 50 in the battery box 49 to the UAV 1. The battery 50 comprises the battery 50 to be replaced and the fully charged battery 50.

[0070] The structure of the embodiment will be described below.

[0071] The parking platform comprises a platform body 2 and a folding platform 3. The UAV 1 is parked on the platform body 2, and the folding platform 3 is rotationally connected to the platform body 2. A folding driving part is fixed below the platform body 2. An output end of the folding driving part is connected to the folding platform 3 and used for driving the folding platform 3 to rotate relative to the platform body 2. When the folding platform 3 is rotated to be perpendicular to the platform body 2, an active gap is formed between the folding platform 3 and the side wall of the hangar shell, and the active gap is used for the battery replacing arm 23 to pass through.

[0072] Specifically, the folding driving part comprises a telescopic structure 4, a connecting piece 5 and a roller 6, all of which are located below the platform body 2 and the folding platform 3. The telescopic structure 4 is fixed below the platform body 2, and an output end thereof is connected to the connecting piece 5. The roller 6 is rotationally connected to the connecting piece 5 and is in contact with the lower surface of the folding platform 3. When the telescopic structure 4 is in an extended state, the roller 6 abuts against the folding platform 3, so that the upper surface of the platform body 2 and the upper surface of the folding platform 3 are located in the same plane and are used for landing of the UAV 1. When the telescopic structure 4 is in a retracted state, the folding platform 3 is rotated downward to be perpendicular to the platform body 2, and at this time, the upper surface of the folding platform 3 and the side wall of the hangar shell form the active gap. The telescopic structure 4 can be an electric telescopic rod, but in other embodiments, the telescopic structure 4 can be of other styles, which are not limited herein.

[0073] The landing platform needs to set a landing mark (the unmanned aerial vehicle 1 needs to identify the landing mark when landing), and the landing accuracy of the unmanned aerial vehicle 1 is poor. Therefore, the area actually used for parking the unmanned aerial vehicle 1 on the landing platform is smaller than the area needed in the landing process of the unmanned aerial vehicle 1. Therefore, the landing platform can be designed in the above-mentioned manner of the platform body 2 and the folding platform 3, and the unmanned aerial vehicle 1 is parked on the platform body 2 after accurate parking.

[0074] However, the unmanned aerial vehicle 1 is parked above the platform body 2. In order to reduce the volume of the hangar, the battery box 49 is generally arranged below the landing platform. However, this makes the battery changing arm 23 need to pass through the reserved gap between the landing platform and the side wall of the hangar shell. If a traditional landing platform that cannot be folded is used, the volume of the hangar needs to be increased in order to leave the reserved gap. However, the landing platform in the embodiment is used. The upper surface of the platform body 2 and the upper surface of the folding platform 3 are located in the same platform when the unmanned aerial vehicle 1 lands. When the unmanned aerial vehicle 1 is parked at a specified position on the platform body 2 for battery changing operation, the folding platform 3 can be folded (that is, the telescopic structure 4 is in the retracted state). At this time, the above-mentioned movable gap is formed. Therefore, when designing the hangar, there is no need to leave space for the reserved gap, thereby reducing the volume of the unmanned aerial vehicle hangar.

[0075] The platform body 2 has a parking area 7, and the unmanned aerial vehicle 1 lands on the parking area 7. If there is an error when landing, the unmanned aerial vehicle 1 can be accurately parked through the centering structure. The opening is arranged beside the parking area 7. In order to increase the charging efficiency, two charging connectors 20 and two openings can be arranged, and two charging interfaces are correspondingly arranged on the unmanned aerial vehicle 1. The two openings are arranged on opposite sides of the parking area 7 and correspond to the two charging interfaces arranged on the two horizontal rods of the unmanned aerial vehicle 1. The two charging connectors 20 are respectively arranged opposite to each other and are respectively arranged to move towards the parking area 7, that is, the direction of the other charging connector 20 after being respectively arranged to extend out of the two openings, and then are respectively arranged to be connected to the charging interfaces on the horizontal rods.

[0076] The landing position of the unmanned aerial vehicle 1 can have an error, and the existence of the opening can affect the landing of the unmanned aerial vehicle 1 when the unmanned aerial vehicle 1 lands with an error. Therefore, a rotatable cover 8 can be arranged on the opening for closing the opening. The lifting assembly drives the charging connector 20 to ascend to the cover 8 contacted by the charging connector 20, and then the charging connector 20 drives the cover 8 to rotate towards the upper side of the platform body 2, so that the charging connector 20 extends out of the opening. After the lifting assembly drives the charging connector 20 to retract from the opening, the cover 8 returns to the original state and closes the opening.

[0077] The charging module 51 comprises a lifting assembly and a moving assembly, and the platform body 2 is provided with an opening. The lifting assembly is fixedly connected below the parking platform, and the output end is connected with the moving assembly. The output end of the moving assembly is connected with the charging connector 20. The lifting assembly is used to drive the moving assembly to make lifting movement, and drive the charging connector 20 to extend out of the opening or retract. The moving assembly is used to drive the charging connector 20 to move, and the two ends of the moving path of the moving assembly correspond to the opening and the charging connector 20 on the unmanned aerial vehicle 1 respectively.

[0078] Specifically, the platform body 2 can be provided with a flip pad 9 at the opening, and the flip pad 9 is connected below the platform body 2. When the flip cover 8 is not in contact with the charging connector 20, the flip cover 8 is placed on the flip pad 9. At this time, the upper surface of the flip pad 9 and the upper surface of the platform body 2 are in the same plane. The flip cover 8 and the platform body 2 are rotationally connected through a hinge assembly. The hinge assembly comprises a hinge rod 10 and two hinge seats 11 connected with the two ends of the hinge rod 10 respectively. The two hinge seats 11 are fixedly connected below the platform body 2. Specifically, in this embodiment, the two hinge seats 11 can be fixedly connected with the flip pad 9. The flip cover 8 is connected with the hinge rod 10, and the flip cover 8 can rotate around the axis of the hinge rod 10 following the hinge rod 10. Among them, the flip cover 8 opens towards the parking area 7.

[0079] The lifting assembly comprises a lifting fixed part and a push rod 14 capable of making telescopic movement relative to the lifting fixed part. The lifting fixed part is connected with the platform body 2, and the moving assembly is fixedly connected with the push rod 14 and makes lifting movement following the telescopic movement of the push rod 14. Specifically, in this embodiment, the lifting assembly can adopt an electric telescopic rod. Of course, in other embodiments, the lifting assembly can adopt other structures, such as a screw nut, etc., which are not limited here. The charging mounting plate 12 can be fixedly connected below the platform body 2. The shell 13 of the electric telescopic rod is connected with the charging mounting plate 12. Specifically, a push rod clamp 15 can be provided, which clamps and fixes the shell 13 of the electric telescopic rod, and the push rod clamp 15 itself is fixed with the charging mounting plate 12. In other embodiments, the connection between the electric telescopic rod and the platform body 2 can adopt other ways, which are not limited here. The moving assembly is fixedly connected on the telescopic rod (i.e. the push rod 14) of the electric telescopic rod. Among them, the telescopic rod (i.e. the push rod 14) makes telescopic movement in the vertical direction, thereby driving the moving assembly to lift. Further, in this embodiment, two lifting assemblies can be provided. The output ends (i.e. the push rods 14) of the two lifting assemblies are connected with the moving assembly respectively. The provision of the two lifting assemblies helps to increase the stability of the structure.

[0080] The moving assembly comprises a charging guide 17, a charging connector mounting member 19 and a charging drive part. The charging guide 17 is connected with the output end of the lifting assembly. Specifically, two charging mounting seats 16 are respectively fixed on the telescopic rod (i.e. the push rod 14), and the two charging mounting seats 16 are respectively connected with the two ends of the charging guide 17, so as to realize the telescopic movement of the telescopic rod (i.e. the push rod 14) to drive the lifting movement of the charging guide 17. The charging connector 20 is connected with the charging connector mounting member 19. In this embodiment, two charging connectors 20 are provided, and therefore two charging connector mounting members 19 are correspondingly provided. The two charging connector mounting members 19 are respectively connected with the charging guide 17 in a sliding manner. Specifically, in this embodiment, the sliding connection can be realized by the sliding block and the sliding groove, but this is not limited. The charging connector mounting member 19 slides along the length direction of the charging guide 17, and the length direction of the charging guide 17 is parallel to the platform body 2.

[0081] The output end of the charging drive part is connected with the charging connector mounting member 19, for driving the charging connector mounting member 19 to slide relative to the charging guide 17, so as to drive the movement of the charging connector 20. Specifically, in this embodiment, the charging drive part can comprise a charging lead screw 18 and a charging drive member 22. The charging lead screw 18 is connected with the charging guide 17, and the length direction of the charging lead screw 18 is parallel to the length direction of the charging guide 17. Specifically, a charging lead screw 18 mounting seat can be provided, which is fixedly connected with the charging guide 17, and is sleeved on the lead screw and connected with the charging lead screw 18 in a rotating manner, so as to realize that the charging lead screw 18 as a whole does not move relative to the charging guide 17, and the charging lead screw 18 rotates around its own axis.

[0082] The charging lead screw 18 is provided with threads, and the charging lead screw 18 penetrates through the charging connector mounting member 19 and is connected with the threads. Specifically, the charging lead screw 18 has a first threaded section and a second threaded section along its length direction, the rotation directions of the first threaded section and the second threaded section are opposite, and the two charging connector 20 mounting seats are respectively arranged on the first threaded section and the second threaded section. Thus, the rotation of the charging lead screw 18 can realize that the two charging connector mounting members 19 are close to or away from each other, and further realize that the two charging connectors 20 are close to or away from the two charging interfaces on the unmanned aerial vehicle 1.

[0083] The charging driving member 22 is fixed to the charging guide member 17, and specifically, a charging driving member mounting seat 21 can be arranged on the charging guide member 17, and the charging driving member 22 is connected with the charging driving member mounting seat 21. In this embodiment, the charging driving member mounting seat 21 is provided with an avoiding hole for avoiding the charging lead screw 18. A belt pulley is sleeved and fixedly connected on the output end of the charging driving member 22 and the charging lead screw 18, and a synchronous belt is wound around the two belt pulleys, so as to realize the rotation of the charging driving member 22 to drive the rotation of the charging lead screw 18. Of course, in other embodiments, the charging driving part can also have other arrangement modes, such as a structure similar to an electric telescopic rod, etc., which is not limited here; even if the charging driving part adopts the structure of the charging lead screw 18 and the charging driving member 22, the specific connection mode of the charging driving member 22 to drive the rotation of the charging lead screw 18 is not limited.

[0084] The battery replacing arm 23 comprises an X-axis assembly 24, a Y-axis assembly 25 and a mechanical head 26. The X-axis assembly 24 is fixed to the inner wall of the garage shell, the Y-axis assembly 25 is fixed to the output end of the X-axis assembly 24, and the mechanical head 26 is fixed to the output end of the Y-axis. The X-axis assembly 24 is used to drive the Y-axis assembly 25 to move along the X-axis, the Y-axis assembly 25 is used to drive the mechanical head 26 to move along the Y-axis, and the mechanical head 26 itself realizes the movement along the Z-axis. The mechanical head 26 is also used to grasp the battery 50.

[0085] The X-axis assembly 24 and the Y-axis assembly 25 are arranged in the fixed gap between the side edge of the parking platform and the side wall of the garage shell. The plane where the X-axis and the Y-axis are located is perpendicular to the parking platform, which helps to further reduce the fixed gap. The size of the fixed gap mainly refers to the shortest distance between the side edge of the parking platform and the side wall of the garage shell. Further, the Z-axis is parallel to the parking platform, and the X-axis, the Y-axis and the Z-axis are perpendicular to each other.

[0086] The X-axis assembly 24 and the Y-axis assembly 25 can each comprise a moving sliding rail 27, a moving lead screw 28, a moving driving member 29 and a moving sliding block 30. The moving sliding block 30 is in sliding connection with the moving sliding rail 27; the moving lead screw 28 is in rotational connection with the moving sliding rail 27, and the axial direction of the moving lead screw 28 is the same as the direction in which the moving sliding block 30 slides on the moving sliding rail 27; the moving sliding block 30 is sleeved on the moving lead screw 28 and is in threaded connection with the moving lead screw 28; the moving driving member 29 is fixed to the moving sliding rail 27, and the output end thereof is connected with the moving lead screw 28, and is used to drive the moving lead screw 28 to rotate, so as to drive the moving sliding block 30 to slide relative to the moving sliding rail 27. The moving sliding block 30 in the X-axis assembly 24 is connected with the moving sliding rail 27 in the Y-axis assembly 25, and the moving sliding block 30 in the Y-axis assembly 25 is connected with the mechanical head 26. Specifically, the output end of the moving driving member 29 and the moving lead screw 28 can be respectively connected with belt pulleys, and a transmission belt is wound around the two belt pulleys, so as to realize the rotation of the moving driving member 29 to drive the moving lead screw 28.

[0087] The mechanical head 26 can include a mechanical head track 31, a placing assembly, a grabbing assembly and a driving assembly. Hereinafter, the mechanical head 26 is described in detail based on the process of replacing the battery 50 on the UAV 1 above the parking platform.

[0088] The track sliding direction of the mechanical head track 31 is aligned with the battery 50 on the UAV 1, and the track sliding direction is described hereinafter when the mechanical head 26 is described.

[0089] The placing assembly is slidingly connected to the mechanical head track 31 along the track sliding direction, and the placing assembly has a battery slot 32 for placing the battery 50. The slot opening of the battery slot 32 is aligned with the battery 50 on the UAV 1, and the inner wall corresponding to the slot opening in the battery slot 32 is an inner bottom wall. The grabbing assembly includes a sliding part and a grabbing part. The sliding part penetrates the inner bottom wall and is slidingly connected thereto. One end of the sliding part, which is located in the two ends of the sliding direction and faces the UAV 1, is connected to the grabbing part. The grabbing part is used to grab the battery 50 and pull or push the battery 50 into or out of the battery slot 32 under the driving of the sliding part. The driving assembly is connected to the placing assembly and one end of the sliding part, which is located in the two ends of the sliding direction and is away from the battery 50, respectively, for driving the placing assembly to slide along the mechanical head track 31 and driving the sliding part to slide relative to the inner bottom wall.

[0090] The placing assembly includes a placing mounting seat 33 and the above-mentioned battery slot 32. The battery slot 32 is connected to the placing mounting seat 33, and the placing mounting seat 33 is slidingly connected to the mechanical head track 31 along the above-mentioned track sliding direction. Specifically, the lower part of the placing mounting seat 33 is slidingly connected to the mechanical head track 31, and the upper part of the placing mounting seat 33 is connected to the battery slot 32. In this embodiment, two battery slots 32 are provided, corresponding to two batteries 50 placed side by side on the UAV 1.

[0091] The grabbing module includes a grabbing mounting seat 36, the above-mentioned sliding part and the above-mentioned grabbing part. The lower part of the grabbing mounting seat 36 is slidingly connected to the mechanical head track 31 along the above-mentioned track sliding direction, and the upper part of the grabbing mounting seat 36 is connected to the sliding part. The grabbing mounting seat 36 and the grabbing part are located on both sides of the inner bottom wall along the above-mentioned track sliding direction. Since two battery slots 32 are provided, two sliding parts and two grabbing parts are also provided correspondingly. The two sliding parts penetrate the inner bottom walls of the two battery slots 32, respectively.

[0092] The grabbing part comprises a grabbing driving part and a screw buckle 40, the grabbing driving part is fixedly connected to the sliding part, the output end of the grabbing driving part is connected to the screw buckle 40, and the screw buckle 40 is used for driving the screw buckle 40 to rotate. The shape of the screw buckle 40 is non-circular, and in the embodiment, the shape of the screw buckle 40 can be oval or similar to the shape of an oval. The screw buckle 40 is used for entering the screw buckle groove on the battery 50 and rotating to realize the connection with the battery 50. Specifically, the grabbing driving part can comprise a grabbing mounting plate 39, a connecting rod and a rotating driving piece 41, the grabbing mounting plate 39 is connected to the sliding part, the rotating driving piece 41 is fixedly connected to the side of the grabbing mounting plate 39 away from the unmanned aerial vehicle 1, the output end of the rotating driving piece 41 is connected to the connecting rod, the connecting rod penetrates through the grabbing mounting plate 39 and is rotationally connected to the grabbing mounting plate 39, and the screw buckle 40 is arranged on the side of the grabbing mounting plate 39 facing the unmanned aerial vehicle 1 and is connected to the connecting rod. Of course, the structure of the grabbing driving part can also have other styles, which are not limited here.

[0093] Correspondingly, the battery mounting piece 42 can be arranged on the battery 50. The battery mounting piece 42 is connected to the battery 50, the battery mounting piece 42 is provided with a screw buckle hole 43 corresponding to the screw buckle 40, the screw buckle hole 43 has a movement space with the battery 50, and the screw buckle hole 43 and the movement space form a screw buckle groove. Meanwhile, the shape of the screw buckle hole 43 matches the shape of the screw buckle 40, and both are non-circular. The non-circular arrangement makes the screw buckle 40 and the screw buckle hole 43 not always match. They match at some angles and do not match at some angles. When they match, the screw buckle 40 can smoothly enter and exit the screw buckle hole 43, and when they do not match, the screw buckle 40 cannot enter and exit the screw buckle hole 43.

[0094] The sliding part comprises at least one sliding rod 37, the length direction of the sliding rod 37 is the same as the above-mentioned track sliding direction, in the embodiment, each sliding part comprises two sliding rods 37, and the two sliding rods 37 are arranged in parallel. However, in other embodiments, the number of sliding rods 37 and the specific arrangement mode of the plurality of sliding rods 37 are not limited. The sliding rod 37 penetrates through the inner bottom wall of the battery groove 32 and is slidably connected thereto, and the two ends are fixedly connected to the grabbing mounting and the grabbing mounting plate 39 respectively. When the placing mounting seat 33 is stationary relative to the mechanical head track 31, if the grabbing mounting seat 36 moves on the mechanical head track 31, the grabbing mounting plate 39 and the screw buckle 40 on the grabbing mounting plate 39 will be driven by the sliding rod 37 to move in the battery groove 32 (if the slot of the battery groove 32 does not contact the battery 50 on the unmanned aerial vehicle 1 when the application is designed, the screw buckle 40 on the grabbing mounting plate 39 needs to be able to extend out of the battery groove 32 under the driving of the sliding part, so as to contact the battery 50 on the unmanned aerial vehicle 1 to complete the connection with the battery 50), so as to take the battery 50 to be replaced from the unmanned aerial vehicle 1 and bring it into the battery groove 32 or push the fully charged battery 50 out of the battery groove 32 and install it on the unmanned aerial vehicle 1.

[0095] The driving assembly comprises a mechanical head driving member 45, a mechanical head screw rod 44 and an elastic member. Two ends of the mechanical head screw rod 44 are respectively rotationally connected with the mechanical head track 31, and the mechanical head screw rod 44 is parallel to the sliding direction of the track. A limiting member 46 is connected with the mechanical head screw rod 44 and / or the mechanical head track 31, and is arranged on the side of the mechanical head track 31 facing the unmanned aerial vehicle 1. In this embodiment, the limiting member 46 is arranged on the mechanical head track 31. The mechanical head screw rod 44 respectively penetrates the placing mounting seat 33 and the grabbing mounting seat 36, and the placing mounting seat 33 is arranged between the grabbing mounting seat 36 and the limiting member 46. The mechanical head screw rod 44 and the grabbing mounting seat 36 are connected through threads, and the mechanical head screw rod 44 does not contact the placing mounting seat 33.

[0096] The mechanical head driving member 45 is fixedly connected with the mechanical head track 31, and an output end thereof is connected with the mechanical head screw rod 44, for driving the mechanical head screw rod 44 to rotate. The elastic member is arranged between the placing mounting seat 33 and the grabbing mounting seat 36. Specifically, the elastic member comprises a plurality of springs 38 corresponding to the sliding rods 37. The springs 38 are respectively sleeved on the corresponding sliding rods 37 and are located between the placing mounting seat 33 and the grabbing mounting seat 36. The mechanical head driving member 45 drives the mechanical head screw rod 44 to rotate, drives the grabbing mounting seat 36 to move along the mechanical head track 31, and drives the placing mounting seat 33 to move along the mechanical head track 31 under the action of the elastic member. The placing mounting seat 33 stops moving when reaching the limiting member 46, and the grabbing mounting seat 36 continues to move by compressing the elastic member.

[0097] Further, the embodiment can further comprise an unlocking member 34 and an unlocking driving member. The unlocking driving member is fixedly connected with the battery groove 32, and an output end thereof is connected with the unlocking member 34. The unlocking member 34 is arranged on the side of the battery groove 32 facing the unmanned aerial vehicle 1, and is used to extend into the battery unlocking hole on the unmanned aerial vehicle 1 to release the locking of the battery 50 on the unmanned aerial vehicle 1. Specifically, the unlocking member 34 can be arranged between the two battery grooves 32, and one unlocking member 34 can simultaneously unlock two batteries 50 on the unmanned aerial vehicle 1.

[0098] Correspondingly, the locking piece 35 can be arranged on the unmanned aerial vehicle 1. The locking piece 35 has a rotation center and a blocking arm, and the locking piece 35 is rotationally connected to the unmanned aerial vehicle 1 at the rotation center. The battery 50 is taken away from the unmanned aerial vehicle 1 by the grabbing part from the battery port of the unmanned aerial vehicle 1, and the blocking arm is used to block part or all of the battery port to achieve the locking of the battery 50. At the same time, the rotation center of the locking piece 35 is provided with a battery unlocking hole matched with the locking piece 35, and after the unlocking piece 34 is inserted into the battery unlocking hole under the driving of the battery groove 32, the unlocking piece 34 is rotated under the driving of the unlocking driving piece, and drives the locking piece 35 to rotate. When the blocking arm leaves the battery port, the blocking arm achieves the unlocking of the battery 50 on the unmanned aerial vehicle 1; when the blocking arm blocks the battery port, the blocking arm locks the battery 50 on the unmanned aerial vehicle 1. Specifically, in the embodiment, the two sides of the rotation center of the locking piece 35 are respectively provided with the blocking arms, and the two blocking arms respectively lock the two batteries 50; at the same time, the battery unlocking hole corresponds to the position of the unlocking piece 34.

[0099] The mechanical head mounting seat 47 can be connected on the mechanical head rail 31, which is used for the connection with the outer structure of the mechanical head 26. The moving slider 30 in the Y-axis assembly 25 is connected with the mechanical head mounting seat 47, so as to realize the fixed connection of the mechanical head 26 to the output end of the Y-axis assembly 25. The protective cover 48 can be arranged on the mechanical head mounting seat 47, which is used for protecting the grabbing module and other structures.

[0100] The embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the above-described embodiments. Even if various changes are made to the application, as long as the changes fall within the scope of the claims of the application and the equivalent technology, they still fall within the protection scope of the application.

Claims

1. A drone battery charging and swapping hangar, characterized in that, The application relates to a warehouse shell and a battery replacing module, a charging module and a parking platform arranged in the warehouse shell; the parking platform is connected with the inner wall of the warehouse shell and used for parking a UAV; the charging module is fixedly connected with the parking platform and used for charging the UAV; The battery replacing module comprises a battery replacing arm and a battery box, the battery replacing arm and the battery box are connected with the inner wall of the warehouse shell, the battery replacing arm is used for taking down a battery to be replaced on the UAV and placing the battery to be replaced into the battery box and mounting a fully-charged battery in the battery box to the UAV; the battery comprises the battery to be replaced and the fully-charged battery; The battery replacing arm comprises a mechanical head, the mechanical head comprises a mechanical head track, a placing assembly, a grabbing assembly, an unlocking part, an unlocking driving part and a driving assembly; The track sliding direction of the mechanical head track is aligned with the battery of the UAV; The placing assembly is slidingly connected with the mechanical head track along the track sliding direction, the placing assembly comprises a placing mounting base and a battery slot used for placing the battery, the battery slot is connected with the placing mounting base, the placing mounting base is slidingly connected with the mechanical head track along the track sliding direction; the slot opening of the battery slot is aligned with the battery on the UAV, and the inner wall corresponding to the slot opening in the battery slot is an inner bottom wall; The grabbing assembly comprises a grabbing mounting base, a sliding part and a grabbing part, the grabbing mounting base is slidingly connected with the mechanical head track along the track sliding direction; the grabbing mounting base is arranged on the side of the placing mounting base which is away from the UAV; The sliding part is connected with the grabbing mounting base, the sliding part penetrates through the inner bottom wall and is slidingly connected with the inner bottom wall, the sliding direction of the sliding part is the same as the track sliding direction, one end of the sliding part which is away from the UAV is connected with the grabbing part, and the grabbing part is used for grabbing the battery and pulling or pushing the battery into or out of the battery slot under the driving of the sliding part; The grabbing part comprises a grabbing driving part and a rotating buckle, the grabbing driving part comprises a grabbing mounting plate and a rotating driving part, the grabbing mounting plate is connected with the sliding part and located on the side of the inner bottom wall which is away from the UAV, the rotating driving part is fixedly connected with the grabbing mounting plate, the output end of the rotating driving part is connected with the rotating buckle and used for driving the rotating buckle to rotate, the rotating buckle is arranged on the side of the mounting plate which is away from the battery, and the rotating buckle can be extended out of the battery slot under the driving of the sliding part; the shape of the rotating buckle is non-circular, and the rotating buckle is used for entering a rotating buckle slot on the battery and rotating to realize the connection with the battery; The unlocking driving part is fixedly connected with the battery slot, the output end of the unlocking driving part is connected with the unlocking part, the unlocking part is arranged on the side of the battery slot which is away from the UAV, the unlocking part is used for extending into a battery unlocking hole on the UAV and rotating under the driving of the unlocking driving part to drive the component provided with the battery unlocking hole on the UAV to rotate, thereby unlocking the battery on the UAV or locking the battery on the UAV. The driving assembly comprises a mechanical head driving member, a mechanical head screw rod and an elastic member; two ends of the mechanical head screw rod are respectively rotationally connected with the mechanical head track, and the mechanical head screw rod is parallel to the sliding direction of the track; a limiting member is connected with the mechanical head screw rod and / or the mechanical head track, and is arranged on the side of the mechanical head track facing the unmanned aerial vehicle; the mechanical head screw rod respectively penetrates the placement mounting base and the grabbing mounting base, and the placement mounting base is arranged between the grabbing mounting base and the limiting member; the mechanical head screw rod and the grabbing mounting base are connected through threads, and the mechanical head screw rod is not in contact with the placement mounting base; The mechanical head driving member is fixedly connected with the mechanical head track, and an output end thereof is connected with the mechanical head screw rod, for driving the mechanical head screw rod to rotate; the elastic member is arranged between the placement mounting base and the grabbing mounting base; The mechanical head driving member drives the mechanical head screw rod to rotate, drives the grabbing mounting base to move along the mechanical head track, and drives the placement mounting base to move along the mechanical head track under the action of the elastic member; the placement mounting base stops at the limiting member, and the grabbing mounting base compresses the elastic member to continue to move. 2.The unmanned aerial vehicle charging and battery swapping machine house according to claim 1, characterized in that, An opening is arranged on the parking platform; The charging module comprises a lifting assembly and a moving assembly; the lifting assembly is fixedly connected below the parking platform, and an output end thereof is connected with the moving assembly; an output end of the moving assembly is connected with a charging connector; the lifting assembly is used for driving the moving assembly to perform lifting movement, and drives the charging connector to extend out of or retract into the opening; the moving assembly is used for driving the charging connector to move, and two ends of a moving path of the charging connector correspond to the opening and the charging connector on the unmanned aerial vehicle respectively. 3.The unmanned aerial vehicle charging and swapping machine shed of claim 2, characterized in that, A flip cover is rotationally connected with the opening, and the flip cover closes the opening; After the lifting assembly drives the charging connector to ascend to the flip cover contacted by the charging connector, the charging connector drives the flip cover to rotate towards the upper side of the parking platform, so that the charging connector extends out of the opening. 4.The unmanned aerial vehicle charging and battery swapping machine house according to claim 2, characterized in that, The lifting assembly comprises a lifting fixed part and a push rod which performs telescopic movement relative to the lifting fixed part; the lifting fixed part is connected with the parking platform; the moving assembly is fixedly connected with the push rod and performs lifting movement along with the telescopic movement of the push rod. 5.The unmanned aerial vehicle charging and battery swapping machine house according to claim 2, characterized in that, The moving assembly comprises a charging guide member, a charging connector mounting member and a charging driving part; The charging guide member is connected with the output end of the lifting assembly; the charging connector mounting member is slidingly connected with the charging guide member, and the charging connector mounting member slides along the length direction of the charging guide member; the charging connector is connected with the charging connector mounting member; The output end of the charging driving part is connected with the charging connector mounting member, for driving the charging connector mounting member to slide relative to the charging guide member. 6.The unmanned aerial vehicle charging and battery swapping machine house according to claim 5, characterized in that, The charging driving part comprises a charging screw rod and a charging driving member; The charging screw rod is connected with the charging guide member, and the length direction of the charging screw rod is parallel to the length direction of the charging guide member; the charging screw rod penetrates the charging connector mounting member and is threadedly connected with the charging connector mounting member. The charging driving element is connected with the charging lead screw for driving the rotation of the charging lead screw, and the rotation of the lead screw drives the sliding of the charging connector mounting element relative to the charging guide element. 7.The drone battery charging hangar of claim 6, wherein, The moving assembly includes two charging connector mounting elements, and the two charging connectors are respectively connected to the two charging connector mounting elements. The charging lead screw has a first threaded section and a second threaded section along the length direction of the charging lead screw, the first threaded section and the second threaded section are opposite in rotation direction, and the two charging connector mounting elements are respectively arranged on the first threaded section and the second threaded section. 8.The drone battery charging hangar of claim 1, wherein, The parking platform includes a platform body and a folding platform, the unmanned aerial vehicle is parked on the platform body, and the folding platform and the platform body are rotationally connected. A folding driving element is fixedly connected below the platform body, an output end of the folding driving element is connected with the folding platform, and the folding driving element is used for driving the rotation of the folding platform relative to the platform body. 9.The drone battery charging hangar of claim 1, wherein, The battery replacing arm includes an X-axis assembly, a Y-axis assembly, and the mechanical head. The X-axis assembly is fixedly connected to the inner wall of the hangar shell, the Y-axis assembly is fixedly connected to the output end of the X-axis assembly, the mechanical head is fixedly connected to the output end of the Y-axis, the X-axis assembly is used for driving the movement of the Y-axis assembly along the X-axis, the Y-axis assembly is used for driving the movement of the mechanical head along the Y-axis, and the mechanical head itself realizes the movement along the Z-axis. The mechanical head is used for grabbing the battery. The X-axis assembly and the Y-axis assembly are arranged in the fixed gap between one side edge of the parking platform and the side wall of the hangar shell, and the plane in which the X-axis and the Y-axis are located intersects with the Z-axis.

Images