Unmanned aerial vehicle nest

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle nest which comprises a shell, a parking apron, a centering mechanism, a connecting rod driving mechanism, a mechanical arm and a battery bin, and the parking apron is arranged on the shell and used for landing of an unmanned aerial vehicle; the centering mechanism is arranged on the parking apron and used for centering the unmanned aerial vehicle parked on the parking apron; the connecting rod driving mechanism is used for driving the parking apron to be horizontally unfolded out of the machine shell or driving the parking apron to be obliquely stored in the machine shell. The mechanical arm is arranged on the machine shell and used for pressing the unmanned aerial vehicle to limit the freedom degree of the unmanned aerial vehicle in the vertical direction and meanwhile replacing a battery assembly of the unmanned aerial vehicle, the battery bin is arranged in the machine shell, and a bin opening of the battery bin directly faces the mechanical arm so that the mechanical arm can stretch into the battery bin from the bin opening of the battery bin to take and place the battery assembly. According to the invention, the battery assembly of the multi-rotor unmanned aerial vehicle can be automatically replaced, and the unmanned aerial vehicle is not easy to move when the battery assembly is replaced, so that the failure of replacing the battery assembly is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a nest of unmanned aerial vehicles. Background Art

[0002] A drone is an unmanned aircraft that is piloted by radio ground equipment or an onboard flight control system. It has the advantages of small size, easy use, low requirements for the combat environment, and strong battlefield survivability. Drones can be divided into military and civilian applications. In the military, drones are divided into reconnaissance aircraft and target aircraft; in the civilian application, drones can be combined with various industries to expand the use of drones themselves.

[0003] In order to achieve the purpose of automatically replacing the battery components of a drone in the drone nest, the existing patent announcement number CN218594202U discloses an automatic battery-changing drone mobile work vehicle. However, the automatic battery-changing drone mobile work vehicle cannot automatically replace the battery components of the multi-rotor drone disclosed by patent number CN220865682U. This is because the helipad of the automatic battery-changing drone mobile work vehicle can only move in the horizontal direction, and when the multi-rotor drone returns and lands on the helipad, the battery components on the multi-rotor drone are in a tilted state, not a horizontal state. In this way, when the multi-rotor drone After the drone moves into the machine nest along with the helipad, the robotic arm of the automatic battery-changing drone mobile work vehicle cannot replace the battery assembly of the multi-rotor drone; in addition, the centering mechanism on the helipad of the automatic battery-changing drone mobile work vehicle only serves to center the drone, that is, the centering mechanism on the helipad only limits the freedom of the drone in the horizontal direction and cannot fix the drone; the robotic arm of the automatic battery-changing drone mobile work vehicle is also unable to limit the vertical freedom of the drone, which makes it easy for the drone to shift when replacing the battery assembly, thereby causing the failure of replacing the battery assembly. Summary of the invention

[0004] In order to solve the technical problems existing in the background technology, the present invention provides a drone nest, which can automatically replace the battery assembly of the multi-rotor drone described in the background technology. At the same time, it is not easy to shift the drone when replacing the battery assembly, effectively avoiding the failure of replacing the battery assembly.

[0005] In order to solve the above problems, the drone nest provided by the present invention adopts the following technical solutions:

[0006] A drone nest, comprising:

[0007] chassis;

[0008] A helipad, arranged on the housing, for landing the UAV, the helipad is provided with an avoidance groove, the avoidance groove runs through the upper and lower surfaces of the helipad, and the extension direction of the avoidance groove is the same as the length direction of the body of the UAV landing on the helipad;

[0009] The centering mechanism is arranged on the apron and is used to center the UAV parked on the apron so that the tail of the UAV body is vertically facing the avoidance groove, and at the same time fixes the UAV on the apron after centering;

[0010] A connecting rod driving mechanism, used for driving the helipad to be horizontally unfolded outside the housing or driving the helipad to be tilted and stored in the housing, when the helipad is tilted and stored in the housing, the body of the UAV parked on the helipad is in a horizontal state;

[0011] The mechanical arm comprises a linear drive module, a sliding arm, a pressing assembly, a driving unit and a battery grabbing assembly, wherein the linear drive module is arranged in a casing and is drivingly connected to the sliding arm, and is used to drive the sliding arm to rise and fall, the sliding arm extends along the length direction of the UAV body, and one end of the sliding arm facing away from the linear drive module can vertically pass through the avoidance groove, and limiting seats are arranged on the opposite side walls of the sliding arm, and the spacing between the two limiting seats forms a limiting groove, and the limiting groove is adapted to the tail of the UAV body, and the limiting groove clamps and fixes the tail of the UAV body, the pressing assembly is arranged on the sliding arm, and is used to press the UAV to limit the vertical freedom of the UAV, and a receiving groove coaxial with the limiting groove is opened on the upper surface of the sliding arm along the extension direction of the sliding arm, and the driving unit is arranged on the sliding arm and is drivingly connected to the battery grabbing assembly, and is used to drive the battery grabbing assembly to slide along the receiving groove to replace the battery assembly of the UAV;

[0012] The battery compartment is arranged in the housing and is located below the connecting rod driving mechanism. The compartment opening of the battery compartment faces the linear driving module so that the battery grabbing component can extend from the compartment opening of the battery compartment into the battery compartment to take and place the battery component.

[0013] Furthermore, the connecting rod driving mechanism includes a driving device and a connecting rod mechanism, the driving device is arranged in the casing and is drivingly connected to the connecting rod mechanism, the connecting rod mechanism is connected to the apron, and the driving device is used to drive the connecting rod mechanism to drive the apron to horizontally unfold outside the casing or to be tilted and stored inside the casing.

[0014] Further, the connecting rod mechanism includes a first connecting rod, a connecting arm and a second connecting rod, one end of the first connecting rod is hinged to the casing, the other end of the first connecting rod is hinged to one end of the connecting arm, the other end of the connecting arm is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the casing, so that the connecting rod mechanism forms a four-bar linkage; wherein the apron is fixed on the connecting arm of the four-bar linkage, and the driving device is drivingly connected to the first connecting rod of the four-bar linkage, so that the apron can be horizontally unfolded to the outside of the casing or can be tilted and stored into the casing.

[0015] Furthermore, the present invention also includes a gas strut rod disposed in the housing, and a telescopic end of the gas strut rod is connected to the first connecting rod.

[0016] Furthermore, the pressing assembly includes a driving structure, a connecting rod assembly, a limit bracket and a clamping block, the two ends of the limit bracket are respectively hinged to the two limit seats, the clamping block is fixedly connected to the limit bracket, one end of the connecting rod assembly is hinged to the clamping block, the driving structure is arranged on the sliding arm and is drivingly connected to the other end of the connecting rod assembly, and the driving structure is used to drive the connecting rod assembly to drive the clamping block to clamp the drone.

[0017] Furthermore, a guide wheel structure is provided on the limiting seat for guiding the tail of the UAV body to enter the limiting groove.

[0018] Furthermore, the battery grasping assembly includes a base, a clamping motor, a driving block and two jaws, the base is slidably arranged in the accommodating groove, the two jaws are symmetrically rotatably arranged on the base, the rotation axis of the jaws extends vertically, the clamping motor is arranged on the base and is connected to the driving block, and the opposite sides of the driving block are respectively connected to the two jaws to drive the two jaws to open or close.

[0019] Furthermore, the surface of the driving block connected to the clamp is set as an arc surface, and a roller is rotatably provided on one end of the clamp connected to the driving block, the rotation axis of the roller extends vertically, and the arc surface contacts the roller.

[0020] Furthermore, the centering mechanism includes a linear drive structure and a centering component, the linear drive structure is arranged on the apron, and is used to drive the centering pusher to move linearly along the length direction of the UAV body; the centering component includes a front end seat and two rear end seats, the front end seat and the two rear end seats are connected to form a V-shaped structure, the V-shaped groove of the V-shaped structure is arranged opposite to the avoidance groove along the length direction of the UAV body parked on the apron, two stop grooves connected to the V-shaped groove are opened on the front end seat, the spacing between the two stop grooves is consistent with the spacing between the two front tripods of the UAV, and the linear movement of the centering component causes the V-shaped groove to guide the two front tripods of the UAV to enter the two stop grooves respectively.

[0021] Furthermore, each of the rear end seats is provided with a driving member and a hook, each hook is rotatably connected to each rear end seat, and the rotation axis of each hook extends vertically. Each driving member is drivably connected to each hook, and the driving member is used to drive the hook to rotate so that the two hooks can hook the two rear tripods of the drone; the rear end seat is also provided with a rear foot fixing groove for engaging with the rear tripod of the drone, and a switch trigger is provided on the rear end seat, and the switch trigger is installed at the rear foot fixing groove. The switch trigger is electrically connected to a controller, and the controller is electrically connected to the driving member. The rear tripod of the drone can trigger the switch trigger. When the switch trigger is triggered by the rear tripod of the drone, the controller controls the driving member to drive the hook to hook the rear tripod of the drone, and enables the hook to fix the rear tripod of the drone in the rear foot fixing groove.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] The drone nest of the present invention is applied to the multi-rotor drone disclosed in the existing patent CN220865682U. When the drone nest of the present invention is in use, the connecting rod driving mechanism drives the helipad to be horizontally unfolded to the outside of the casing for the drone to land. After the drone lands on the helipad, the centering mechanism centers the drone and fixes the centered drone on the helipad at the same time; wherein, the tail of the drone body after centering is vertically facing the avoidance groove on the helipad, at this time, the connecting rod driving mechanism drives the helipad to be tilted and stored in the casing, and since the drone is fixed on the helipad, it will not fall; and after the helipad is tilted and stored in the casing, the body of the drone on the helipad is just in a horizontal state, so that the battery assembly on the drone is in a horizontal state, and at this time the linear drive module drives The sliding arm rises to the bottom of the battery assembly on the drone, and the driving unit drives the battery grabbing assembly to unlock and remove the battery assembly, and then the linear driving module drives the sliding arm to descend to the opening of the corresponding battery compartment. At this time, the driving unit drives the battery grabbing assembly to place the battery assembly into the battery compartment; then, the battery grabbing assembly grabs the fully charged battery assembly in the battery compartment, and then the linear driving module drives the sliding arm to rise and pass through the avoidance groove on the apron, so that the tail of the drone body enters the limit groove, and the rear fixed wing of the drone is pressed against the upper surface of the limit seat. At this time, the pressing assembly presses the upper surface of the drone body to fix the drone. At this time, the driving unit drives the battery grabbing assembly to push forward along the receiving groove to push the fully charged battery assembly into the drone, completing the automatic replacement of the drone's battery assembly.

[0024] In summary, the drone nest of the present invention can automatically replace the battery assembly of the multi-rotor drone disclosed in CN220865682U; at the same time, a pressing assembly for limiting the vertical freedom of the drone is integrated on the mechanical arm, and a limit groove for limiting the horizontal freedom of the drone is used to avoid shifting of the drone when replacing the battery assembly, effectively avoiding failure in replacing the battery assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the structure of the drone nest of the present invention;

[0026] Figure 2 This is a structural schematic diagram of an embodiment of the present invention in which the engine nest is removed from the cabin door;

[0027] Figure 3 for Figure 1 A top view of

[0028] Figure 4 for Figure 3 Sectional view at AA;

[0029] Figure 5 This is a schematic diagram of the structure of a robotic arm according to an embodiment of the present invention;

[0030] Figure 6 for Figure 5 A schematic diagram of the structure from another angle;

[0031] Figure 7 A cross-sectional view of a mechanical arm according to an embodiment of the present invention;

[0032] Figure 8 This is a schematic diagram of the structure of the connection between the sliding arm and the pressing assembly according to an embodiment of the present invention;

[0033] Fig. 9 This is a schematic diagram of the structure of an embodiment of the present invention in which a pressing component is pressing a drone;

[0034] Fig.10 This is a schematic diagram of the structure of the pressing component in a non-pressing drone state according to an embodiment of the present invention;

[0035] Fig.11 It is a structural schematic diagram of a battery grabbing assembly according to an embodiment of the present invention;

[0036] Fig.12 for Fig.11 A top view of

[0037] Fig.13 A cross-sectional view of a battery gripping assembly according to an embodiment of the present invention;

[0038] Fig.14 It is a structural schematic diagram of a centralizing component involved in an embodiment of the present invention;

[0039] Fig.15 for Fig.14 A schematic diagram of the enlarged structure at B in the middle;

[0040] Fig.16 It is a schematic diagram of the three-dimensional structure of the centering component involved in an embodiment of the present invention;

[0041] Fig.17 for Fig.16 Schematic diagram of the enlarged structure at C in the middle;

[0042] Fig.18 for Fig.16 A schematic diagram of the structure from another angle;

[0043] Fig.19 for Fig.18 Schematic diagram of the enlarged structure at E in the middle;

[0044] Fig. 20 for Fig.18 Sectional view at DD in the middle;

[0045] Fig.21 for Fig. 20 The enlarged structural diagram at F in the middle;

[0046] Fig. 22 This is a schematic diagram of the structure of a drone according to an embodiment of the present invention;

[0047] Fig.23 Schematic diagram of the structure of a drone according to another embodiment of the present invention from another angle.

[0048] Reference numerals in the accompanying drawings:

[0049] 1. Casing; 10. Cabin door; 11. Connecting rod; 2. Helicopter landing pad; 20. Avoidance groove; 3. Centering mechanism; 31. Centering assembly; 310. Front seat; 311. Rear seat; 312. V-shaped groove; 313. Stop groove; 314. Driving member; 315. Hook; 316. Rear foot fixing groove; 317. Switch trigger; 318. Rotating member; 319. Transmission rod; 320. Rolling wheel; 321. Slide groove; 322. Connecting member; 4. Connecting rod driving mechanism; 401. Driving rod; 41. Connecting rod mechanism; 410. First connecting rod; 411. Connecting arm; 412. Second connecting rod; 5. Mechanical arm; 50. Linear drive module; 51. Sliding arm ;510, limit seat;5101, guide wheel structure;511, limit slot;512, accommodating slot;52, pressing assembly;520, driving structure;521, swing arm;522, connecting rod;523, limit bracket;524, clamping block;525, fixing seat;53, battery grabbing assembly;530, base;531, clamping motor;532, driving block;533, clamping claw;5330, elastic member;534, arc surface;535, roller;54, driving unit;6, battery compartment;7, gas strut;8, drone;80, fuselage;81, battery assembly;810, spring cap;82, rear fixed wing;83, front tripod;84, rear tripod. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0051] In the description of the present invention, it is necessary to understand that the orientations or positional relationships indicated by terms such as "width", "up", "down", "front", "back", "top" and "bottom" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", and "set" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0054] Please refer to Figure 1 - Fig.21 The present invention provides a drone nest, which is mainly used for the multi-rotor drone 8 disclosed in the existing patent CN220865682U. That is, it can be understood that the drone 8 mentioned in this embodiment is the multi-rotor drone 8 disclosed in the authorization announcement number CN220865682U. Since this multi-rotor drone 8 is a prior art, it will not be repeated here.

[0055] Reference Figure 1 - Figure 4 The drone nest includes a housing 1, a helipad 2, a centering mechanism 3, a connecting rod driving mechanism 4, a mechanical arm 5 and a battery compartment 6. Among them, the housing 1 is provided with a cabin door 10; the helipad 2 is provided on the housing 1 for the landing of the drone 8, and an avoidance groove 20 is provided on the helipad 2. The avoidance groove 20 runs through the upper and lower surfaces of the helipad 2, and the extension direction of the avoidance groove 20 is the same as the length direction of the body 80 of the drone 8 landing on the helipad 2. When the drone 8 returns and lands on the helipad 2, the head of the drone 8 is higher than the tail, which can be referred to Fig.23 The state of the drone 8 is shown. That is, when the drone 8 returns and lands on the helipad 2, the fuselage of the drone 8 is in a non-horizontal state, so that the battery assembly on the drone 8 is also in a non-horizontal state.

[0056] Reference Figure 1 - Figure 4The connecting rod driving mechanism 4 is used to drive the apron 2 to be horizontally unfolded to the outside of the casing 1 or to drive the apron 2 to be tilted and stored in the casing 1; wherein, when the apron 2 is tilted and stored in the casing 1, the body 80 of the UAV 8 parked on the apron 2 is in a horizontal state, so that the battery assembly 81 on the UAV 8 is in a horizontal state.

[0057] Reference Figure 1 - Figure 4 The connecting rod driving mechanism 4 includes a driving device and a connecting rod mechanism 41. The driving device is arranged in the casing 1 and is drivingly connected to the connecting rod mechanism 41. The connecting rod mechanism 41 is connected to the apron 2. The driving device is used to drive the connecting rod mechanism 41 to drive the apron 2 to be horizontally unfolded to the outside of the casing 1 or tilted to be stored in the casing 1. Specifically, two groups of connecting rod mechanisms 41 are provided, and the two groups of connecting rod mechanisms 41 are respectively arranged on both sides of the width direction of the casing 1, each group of connecting rod mechanisms 41 includes a first connecting rod 410, a connecting arm 411 and a second connecting rod 412, one end of the first connecting rod 410 is hinged to the casing 1, the first end of the first connecting rod 410 is drivingly connected to the driving rod 401, the first end of the first connecting rod 410 is also hinged to the casing 1, the second end of the first connecting rod 410 is hinged to one end of the connecting arm 411, the other end of the connecting arm 411 is hinged to one end of the second connecting rod 412, and the other end of the second connecting rod 412 is hinged to the casing 1, so that the connecting rod mechanism 41 forms a four-link mechanism 41; wherein, the apron 2 is fixed on the connecting arm 411, and the driving device is drivingly connected to the first connecting rod 410 of the four-link mechanism 41, so that the apron 2 can be horizontally unfolded to the outside of the casing 1 or can be tilted and stored in the casing 1. The driving device includes a driving rod 401 and a driving motor (not shown). The driving rod 401 is rotatably disposed in the housing 1. The driving motor is disposed in the housing 1 and is drivingly connected to the driving rod 401. The driving rod 401 extends horizontally along the width direction of the housing 1. The two ends of the driving rod 401 are respectively drivingly connected to the first ends of the first connecting rods 410 of the two sets of connecting rod mechanisms 41. It can be seen that by driving the driving motor to drive the driving rod 401 to rotate, the two sets of connecting rod mechanisms 41 can be driven to horizontally unfold the apron 2 to the outside of the housing 1 or to tilt the apron 2 and store it in the housing 1.

[0058] Reference Figure 1When the apron 2 is horizontally unfolded outside the casing 1, the upper surface of the connecting arm 411 is in a horizontal state, and the lower surface of the connecting arm 411 is in a state of tilting from bottom to top. At this time, the apron 2 connected and fixed to the upper surface of the connecting arm 411 is in a horizontal state; when the apron 2 is stored in the casing 1, the first connecting rod 410 and the second connecting rod 412 are in a vertical state, and the lower surface of the connecting arm 411 is in a horizontal state. In this way, the upper surface of the connecting arm 411 is in an inclined state, so that the apron 2 is stored in the casing 1 in an inclined state. In addition, when the apron 2 is stored in the casing 1 in an inclined state, the body 80 of the drone 8 parked on the apron 2 is just in a horizontal state (refer to FIG. Fig. 22 The state of the drone 8 is shown), so that the battery assembly 81 on the drone 8 is in a horizontal state.

[0059] In addition, the link mechanism 41 is linked to the cabin door 10 through the connecting rod 11. Figure 1 and Figure 4 The first connecting rod 410 of each connecting rod mechanism 41 is connected to the cabin door 10 through one of the connecting rods 11, one end of the connecting rod 11 is hinged to the connecting rod mechanism 41, and the other end of the connecting rod 11 is hinged to the cabin door 10, so that when the driving device drives the connecting rod mechanism 41 to drive the apron 2 to be unfolded outside the casing 1, the cabin door 10 is opened, and when the driving device drives the connecting rod mechanism 41 to drive the apron 2 to be stored in the casing 1, the cabin door 10 is closed, thereby realizing the linkage between the cabin door 10 and the apron 2.

[0060] Reference Figure 4 In order to balance the gravity of the apron 2 acting on the connecting rod mechanism 41, a gas strut 7 is further provided in the housing 1. The gas strut 7 is fixed on a side wall in the housing 1. The gas strut 7 is tilted from bottom to top, and the telescopic end of the gas strut 7 is connected to the first connecting rod 410. When the connecting rod mechanism 41 drives the apron 2 to be unfolded outside the housing 1, the telescopic rod of the gas strut 7 extends, and when the connecting rod mechanism 41 drives the apron 2 to be stored in the housing 1, the telescopic rod of the gas strut 7 retracts, thereby balancing the gravity of the apron 2 acting on the connecting rod mechanism 41.

[0061] Reference Figure 1 and Figure 2 The centering mechanism 3 is arranged on the apron 2, and is used to center the UAV 8 parked on the apron 2, so that the tail of the body 80 of the UAV 8 is vertically facing the avoidance groove 20, and the UAV 8 after centering is fixed on the apron 2.

[0062] Reference Figure 1 , Figure 3 , Fig.14 - Fig.23The centering mechanism 3 includes a linear drive component (not shown) and a centering component 31. The linear drive component uses a linear drive module 50 or an electric push rod and other structures. The linear drive component is arranged on the apron 2 and is used to drive the centering pusher to move linearly along the length direction of the body 80 of the drone 8, wherein the length direction of the body 80 of the drone 8 is also the length direction of the casing 1. The centering component 31 includes a front end seat 310 and two rear end seats 311. The front end seat 310 is connected with the two rear end seats 311 to form a V-shaped structure. The V-shaped groove 312 of the V-shaped structure is directly opposite to the above-mentioned avoidance groove 20 along the length direction of the body 80 of the UAV 8 parked on the apron 2. Two stop grooves 313 communicating with the V-shaped groove 312 are opened on the front end seat 310. The distance between the two stop grooves 313 is consistent with the distance between the two front legs 83 of the UAV 8. The linear movement of the centering component 31 causes the V-shaped groove 312 to guide the two front legs 83 of the UAV 8 to enter the two stop grooves 313 respectively, thereby achieving the purpose of centering the UAV 8 on the apron 2.

[0063] In addition, refer to Fig.14 - Fig.23 , each rear seat 311 is provided with a driving member 314 and a hook 315, each hook 315 is rotatably connected to each rear seat 311, and the rotation axis of each hook 315 extends vertically, each driving member 314 is rotatably connected to each hook 315, and the driving member 314 is used to drive the hook 315 to rotate, so that the two hooks 315 can hook the two rear legs 84 of the drone 8. The rear seat 311 is also provided with a rear foot fixing groove 316 for engaging with the rear legs 84 of the drone 8, and the rear seat 311 is provided with a switch trigger 317, which is installed at the rear foot fixing groove 316, and the switch trigger 317 is electrically connected to a controller (not shown), and the controller is electrically connected to the driving member 314, and the rear legs 84 of the drone 8 can trigger the switch trigger 317. When the switch trigger 317 is triggered by the rear tripod 84 of the drone 8, the controller controls the driving member 314 to drive the hook 315 to hook the rear tripod 84 of the drone 8, and enables the hook 315 to fix the rear tripod 84 of the drone 8 in the rear foot fixing slot 316.

[0064] When the drone 8 lands on the apron 2 and returns to the center, the stop groove 313 on the front seat 310 stops the front leg 83 of the drone 8, and the rear leg 84 of the drone 8 is just in the rear leg fixing groove 316. At this time, the switch trigger 317 is triggered by the rear leg 84 of the drone 8, thereby transmitting a signal to the controller, and the controller controls the driving member 314 to drive the hook 315 to hook the rear leg 84 of the drone 8 and fix it in the rear leg fixing groove 316, so as to fix the front and rear ends of the drone 8, thereby fixing the entire drone 8. When the drone 8 is needed, it is only necessary to control the driving member 314 to drive the hook 315 to separate from the rear leg 84 of the drone 8, and the drone 8 can directly take off vertically in the up and down directions.

[0065] Of course, refer to Fig.14 and Fig.15 The output end of the driving member 314 is fixed with a rotating member 318, and the rotating member 318 rotates around the output end of the driving member 314. The rotating member 318 is ball-jointed with a transmission rod 319, and the transmission rod 319 is ball-jointed with the hook 315. In this way, when the driving member 314 is running, the rotating member 318 will rotate. The ball joint of the rotating member 318 and the transmission rod 319 is eccentric, that is, the position of the ball joint does not coincide with the rotation axis of the output end of the driving member 314. In this way, when the rotating member 318 rotates, the transmission of the transmission rod 319 will pull the hook 315 to move, thereby realizing the contact or separation of the hook 315 with the rear leg 84 of the drone 8. The driving member 314 in this embodiment is a servo motor.

[0066] In other embodiments, the driving member 314 may also be a cylinder, the fixed end of the cylinder is hinged on the rear end seat 311, the telescopic end of the cylinder is hinged to the hook 315, and the telescopic end of the cylinder is telescoped to achieve contact or separation between the hook 315 and the rear leg 84 of the drone 8. In this way, the driving member 314 can also drive the hook 315 to hook the rear leg 84 of the drone 8.

[0067] In addition, refer to Figure 3 , Fig.16 , Fig. 20 and Fig.21 The bottom surfaces of the two rear seats 311 are provided with freely rotatable rolling wheels 320, which can roll on the apron 2, so as to realize the movement of the front seat 310 and the two rear seats 311 connected together on the apron 2. At the same time, the apron 2 has two slide grooves 321 arranged in parallel and spaced apart along the width direction of the housing 1, and the slide grooves 321 extend along the length direction of the housing 1 and have the same moving direction as the rolling wheels 320. The bottom surfaces of the two rear seats 311 are provided with connecting pieces 322, which slide in the corresponding slide grooves 321.

[0068] Two mounting seats (not shown) are provided on the bottom surface of the apron 2, and two linear drive assemblies are fixed on the two pairs of mounting seats respectively. Figure 3 and Fig.16 The connecting member 322 passes through the slide slot 321 and is connected to the corresponding linear drive assembly. The linear drive assembly drives the connecting member 322 to move, thereby driving the centering assembly 31 to move. At this time, the two rolling wheels 320 roll along the length direction of the casing 1 on the apron 2 to facilitate the movement of the centering assembly 31.

[0069] Reference Figure 5 - Figure 8 , Fig. 22 - Fig.23 The robot arm 5 includes a linear drive module 50, a sliding arm 51, a pressing assembly 52, a driving unit 54 and a battery grabbing assembly 53. The linear drive module 50 is arranged in the housing 1 and is drivingly connected to the sliding arm 51, and is used to drive the sliding arm 51 to move up and down. The sliding arm 51 extends along the length direction of the housing 1, and the end of the sliding arm 51 facing away from the linear drive module 50 can vertically pass through the avoidance groove 20; in addition, a limiting seat 510 is arranged on the two side walls of the sliding arm 51 along the width direction of the housing 1, and the limiting seat 510 is fixedly connected to the sliding arm 51, and the spacing between the two limiting seats 510 forms a limiting groove 511, which is adapted to the tail of the body 80 of the drone 8, so that the limiting groove 511 can clamp and fix the tail of the body 80 of the drone 8. The pressing assembly 52 is arranged on the sliding arm 51, and is used for pressing the UAV 8 to limit the vertical freedom of the UAV 8. A receiving groove 512 coaxial with the limiting groove 511 is provided on the upper surface of the sliding arm 51 along the extension direction of the sliding arm 51. The driving unit 54 is arranged on the sliding arm 51 and is drivingly connected to the battery grasping assembly 53, and is used for driving the battery grasping assembly 53 to slide along the receiving groove 512 to replace the battery assembly 81 of the UAV 8.

[0070] When replacing the battery assembly 81 of the drone 8, the battery grasping assembly 53 inserts the fully charged battery assembly 81 into the battery slot on the drone 8, and the tail of the body 80 of the drone 8 is located in the limiting groove 511. At this time, the pressing assembly 52 presses the upper surface of the body 80 of the drone 8, so that the rear fixed wing 82 of the drone 8 is pressed against the upper surface of the limiting seat 510, and at the same time, the tail of the body 80 of the drone 8 is clamped and fixed by the limiting groove 511, thereby achieving the effect of fixing the drone 8, avoiding the failure of the battery grasping assembly 53 to replace the battery assembly 81 due to the easy movement of the drone 8 when replacing the battery assembly 81.

[0071] Of course, refer to Figure 2 or Figure 4The battery compartment 6 is arranged in the housing 1 and is located below the connecting rod driving mechanism 4. The compartment opening of the battery compartment 6 faces the linear driving module 50, so that the battery grabbing assembly 53 can extend from the compartment opening of the battery compartment 6 into the battery compartment 6 to take and place the battery assembly 81.

[0072] Reference Figure 4 , Fig. 9 and Fig.10 The pressing assembly 52 includes a driving structure 520, a connecting rod assembly, a limit bracket 523 and a clamping block 524. The two ends of the limit bracket 523 are respectively hinged to the two limit seats 510, the clamping block 524 is fixedly connected to the limit bracket 523, one end of the connecting rod assembly is hinged to the clamping block 524, the driving structure 520 is arranged on the sliding arm 51 and is drivingly connected to the other end of the connecting rod assembly, and the driving structure 520 is used to drive the connecting rod assembly to drive the clamping block 524 to clamp the drone 8.

[0073] Specifically, the driving structure 520 is a driving motor. Fig. 9 and Fig.10 The connecting rod assembly includes a swing arm 521 and a connecting rod 522. The driving structure 520 is fixed on the sliding arm 51 through a fixing seat 525. The driving structure 520 is located above the sliding arm 51. The driving structure 520 is connected to one end of the swing arm 521. One end of the connecting rod 522 is hinged to the other end of the swing arm 521. The other end of the connecting rod 522 is hinged to the clamping block 524. The hinge axis of the connecting rod 522 and the swing arm 521 extends along the width direction of the casing 1; the two ends of the limiting bracket 523 are respectively hinged to the two limiting seats 510, and the hinge axis between the limiting bracket 523 and the limiting seat 510 extends along the width direction of the casing 1. It can be seen that when the sliding arm 51 rises and passes through the avoidance groove 20 of the apron 2, so that the tail of the body 80 of the drone 8 is located in the limit groove 511, the swing arm 521 is driven by the driving structure 520, driving the connecting rod 522 to drive the clamping block 524 to flip forward, so that the clamping block 524 is pressed down on the upper surface of the body 80 of the drone 8, limiting the vertical freedom of the drone 8. When it is necessary to release the restriction of the vertical freedom of the drone 8 by the clamping block 524, the swing arm 521 is driven by the driving structure 520 to drive the connecting rod 522 to drive the clamping block 524 to flip backward, so as to release the clamping block 524 from pressing the body 80 of the drone 8.

[0074] In addition, refer to Figure 5 A guide wheel structure 5101 is provided on the limiting seat 510 to guide the tail of the body 80 of the UAV 8 into the limiting groove 511, so as to facilitate the tail of the body 80 of the UAV 8 to enter the limiting groove 511.

[0075] Reference Figure 6 , Fig.11 - Fig.13 The battery grabbing assembly 53 includes a base 530, a clamping motor 531, a driving block 532 and two clamping jaws 533. The base 530 is slidably disposed in the receiving groove 512. The base 530 is drivingly connected to the driving unit 54. The driving unit 54 is fixed on the sliding arm 51 along the extension direction of the sliding arm 51. The driving unit 54 is a linear driving assembly or a linear electric push rod. The two clamping jaws 533 are symmetrically rotatably disposed on the base 530. Of course, the rotation axis of the clamping jaws 533 extends vertically, and the driving shaft of the clamping motor 531 extends vertically. The clamping motor 531 is disposed on the base 530, and the driving shaft of the clamping motor 531 is drivingly connected to the driving block 532; the opposite sides of the driving block 532 are respectively connected to the two clamping jaws 533 to drive the two clamping jaws 533 to open or close. Specifically, the surface on the driving block 532 connected to the clamp 533 is set as an arcuate surface 534, and one end of the clamp 533 connected to the driving block 532 is rotatably provided with a roller 535, the rotation axis of the roller 535 extends vertically, and the arcuate surface 534 is in contact with the roller 535. It can be seen that when the clamping motor 531 drives the above-mentioned driving block 532 to rotate so that the two end surfaces of the driving block 532 are respectively in contact with the two clamps 533, the two clamps 533 close to clamp the battery assembly 81 of the above-mentioned drone 8, and the two clamps 533 are in soft contact with the opposite sides of the battery assembly 81 to avoid damage to the battery assembly 81. Before the two clamps 533 pull the battery assembly 81 out of the body 80 of the drone 8, the two clamps 533 will press the spring cap 810 on the battery assembly 81 along the width direction of the casing 1 (such as Fig.23 As shown), the spring cap 810 is unlocked from the body 80 of the drone 8, after which the driving unit 54 drives the base 530 to drive the two clamps 533 to pull the battery assembly 81 out of the body 80 of the drone 8.

[0076] In addition, refer to Fig.11 The upper surfaces of the two clamping jaws 533 are connected with elastic members 5330 to improve the clamping stability between the two clamping jaws 533 and facilitate the resetting of the two clamping jaws 533 .

[0077] The working process of the present invention is as follows:

[0078] When the drone nest of the present invention is in use, the connecting rod driving mechanism 4 drives the helipad 2 to be horizontally unfolded to the outside of the casing 1 for the drone 8 to land. When the drone 8 lands on the helipad 2, the centering mechanism 3 centers the drone 8 and fixes the centered drone 8 on the helipad 2. Among them, the tail of the body 80 of the drone 8 after centering is vertically facing the avoidance groove 20 on the helipad 2. At this time, the connecting rod driving mechanism 4 drives the helipad 2 to be tilted and stored in the casing 1. Since the drone 8 is fixed on the helipad 2, it will not fall. After the helipad 2 is tilted and stored in the casing 1, the body 80 of the drone 8 on the helipad 2 is just in a horizontal state, so that the battery assembly 81 on the drone 8 is in a horizontal state. At this time, the linear drive module 50 drives the sliding arm 51 to rise to the bottom of the battery assembly 81 on the drone 8, and drives the battery grabbing assembly 53 to unlock and take out the battery assembly 81 through the driving unit 54, and then the linear drive module drives the sliding arm 51 to descend to the opposite The battery compartment 6 is opened, and the driving unit 54 drives the battery grabbing assembly 53 to place the battery assembly 81 into the battery compartment 6; then, the battery grabbing assembly 53 grabs the fully charged battery assembly 81 in the battery compartment 6, and the driving unit 54 drives the battery grabbing assembly 53 to drive the fully charged battery assembly 81 to move to the rear end of the receiving groove 512, and then the linear driving module 50 drives the sliding arm 51 to rise and pass through the avoidance groove 20 on the apron 2, so that the tail of the body 80 of the drone 8 enters the limiting groove 511, and at this time the driving structure 520 drives the swing arm 521 to drive the connecting rod 522 to drive the clamping block 524 to flip forward, so that the clamping block 524 is pressed down on the upper surface of the body 80 of the drone 8, limiting the vertical freedom of the drone 8; on this basis, the driving unit 54 drives the battery grabbing assembly 53 to push forward along the receiving groove 512 to push the fully charged battery assembly 81 into the body 80 of the drone 8, and complete the automatic replacement of the battery assembly 81 of the drone 8.

[0079] In summary, the drone nest of the present invention can automatically replace the battery assembly 81 of the multi-rotor drone 8 disclosed in CN220865682U; at the same time, a pressing assembly 52 for limiting the vertical freedom of the drone 8 is integrated on the mechanical arm 5, and a limiting groove 511 for limiting the horizontal freedom of the drone 8 is provided, thereby avoiding displacement of the drone 8 when replacing the battery assembly 81, and effectively avoiding failure in replacing the battery assembly 81.

[0080] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A drone nest, characterized in that: include: chassis; A helipad, arranged on the housing, for landing the UAV, the helipad is provided with an avoidance groove, the avoidance groove runs through the upper and lower surfaces of the helipad, and the extension direction of the avoidance groove is the same as the length direction of the body of the UAV landing on the helipad; The centering mechanism is arranged on the apron and is used to center the UAV parked on the apron so that the tail of the UAV body is vertically facing the avoidance groove, and at the same time fixes the UAV on the apron after centering; A connecting rod driving mechanism, used for driving the helipad to be horizontally unfolded outside the housing or driving the helipad to be tilted and stored in the housing, when the helipad is tilted and stored in the housing, the body of the UAV parked on the helipad is in a horizontal state; The mechanical arm comprises a linear drive module, a sliding arm, a pressing assembly, a driving unit and a battery grabbing assembly, wherein the linear drive module is arranged in a casing and is drivingly connected to the sliding arm, and is used to drive the sliding arm to rise and fall, the sliding arm extends along the length direction of the UAV body, and one end of the sliding arm facing away from the linear drive module can vertically pass through the avoidance groove, and limiting seats are arranged on the opposite side walls of the sliding arm, and the spacing between the two limiting seats forms a limiting groove, and the limiting groove is adapted to the tail of the UAV body, and the limiting groove clamps and fixes the tail of the UAV body, the pressing assembly is arranged on the sliding arm, and is used to press the UAV to limit the vertical freedom of the UAV, and a receiving groove coaxial with the limiting groove is opened on the upper surface of the sliding arm along the extension direction of the sliding arm, and the driving unit is arranged on the sliding arm and is drivingly connected to the battery grabbing assembly, and is used to drive the battery grabbing assembly to slide along the receiving groove to replace the battery assembly of the UAV; The battery compartment is arranged in the housing and is located below the connecting rod driving mechanism. The compartment opening of the battery compartment faces the linear driving module so that the battery grabbing component can extend from the compartment opening of the battery compartment into the battery compartment to take and place the battery component.

2. The drone nest according to claim 1, characterized in that: The connecting rod driving mechanism includes a driving device and a connecting rod mechanism, the driving device is arranged in the casing and is drivingly connected to the connecting rod mechanism, the connecting rod mechanism is connected to the apron, and the driving device is used to drive the connecting rod mechanism to drive the apron to be horizontally unfolded to the outside of the casing or tilted to be stored in the casing.

3. The drone nest according to claim 2, characterized in that: The connecting rod mechanism includes a first connecting rod, a connecting arm and a second connecting rod, one end of the first connecting rod is hinged to the casing, the other end of the first connecting rod is hinged to one end of the connecting arm, the other end of the connecting arm is hinged to one end of the second connecting rod, and the other end of the second connecting rod is hinged to the casing, so that the connecting rod mechanism forms a four-bar linkage; wherein the apron is fixed on the connecting arm of the four-bar linkage, and the driving device is drivingly connected to the first connecting rod of the four-bar linkage, so that the apron can be horizontally unfolded to the outside of the casing or can be tilted and stored into the casing.

4. The drone nest according to claim 3, characterized in that: It also includes a gas strut rod arranged in the casing, and the telescopic end of the gas strut rod is connected to the first connecting rod.

5. The drone nest according to claim 1, characterized in that: The pressing assembly includes a driving structure, a connecting rod assembly, a limit bracket and a clamping block. The two ends of the limit bracket are respectively hinged to the two limit seats, the clamping block is fixedly connected to the limit bracket, one end of the connecting rod assembly is hinged to the clamping block, the driving structure is arranged on the sliding arm and is drivingly connected to the other end of the connecting rod assembly, and the driving structure is used to drive the connecting rod assembly to drive the clamping block to clamp the drone.

6. The drone nest according to claim 5, characterized in that: The limiting seat is provided with a guide wheel structure for guiding the tail of the UAV body to enter the limiting groove.

7. The drone nest according to claim 1, characterized in that: The battery grabbing assembly includes a base, a clamping motor, a driving block and two jaws. The base is slidably arranged in the accommodating groove. The two jaws are symmetrically rotatably arranged on the base. The rotation axis of the jaws extends vertically. The clamping motor is arranged on the base and is connected to the driving block. The opposite sides of the driving block are respectively connected to the two jaws to drive the two jaws to open or close.

8. The drone nest according to claim 7, characterized in that: The surface of the driving block connected to the clamp is set as an arc surface, and one end of the clamp connected to the driving block is rotatably provided with a roller, the rotation axis of the roller extends vertically, and the arc surface contacts the roller.

9. The drone nest according to claim 1, characterized in that: The centering mechanism includes a linear drive structure and a centering component. The linear drive structure is arranged on the apron and is used to drive the centering pusher to move linearly along the length direction of the UAV body; the centering component includes a front seat and two rear seats. The front seat is connected to the two rear seats to form a V-shaped structure. The V-shaped groove of the V-shaped structure is directly opposite to the avoidance groove along the length direction of the UAV body parked on the apron. Two stop grooves connected to the V-shaped groove are opened on the front seat. The distance between the two stop grooves is consistent with the distance between the two front tripods of the UAV. The linear movement of the centering component causes the V-shaped groove to guide the two front tripods of the UAV to enter the two stop grooves respectively.

10. The drone nest according to claim 9, characterized in that: Each of the rear end seats is provided with a driving member and a hook, each hook is rotatably connected to each rear end seat, and the rotation axis of each hook extends vertically. Each driving member is drivably connected to each hook, and the driving member is used to drive the hook to rotate so that the two hooks can hook the two rear tripods of the drone; the rear end seat is also provided with a rear foot fixing groove for engaging with the rear tripod of the drone, and a switch trigger is provided on the rear end seat, and the switch trigger is installed at the rear foot fixing groove. The switch trigger is electrically connected to a controller, and the controller is electrically connected to the driving member. The rear tripod of the drone can trigger the switch trigger. When the switch trigger is triggered by the rear tripod of the drone, the controller controls the driving member to drive the hook to hook the rear tripod of the drone, and enables the hook to fix the rear tripod of the drone in the rear foot fixing groove.

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