A drone nest

Abstract

This invention relates to the field of unmanned aerial vehicle (UAV) technology, and particularly to a UAV housing, comprising a casing, a landing pad, a centering mechanism, a linkage drive mechanism, a robotic arm, and a battery compartment. The landing pad is disposed on the casing for UAV landing; the centering mechanism is disposed on the landing pad for centering the UAV parked on the landing pad; the linkage drive mechanism is used to drive the landing pad to extend horizontally outside the casing or to drive the landing pad to tilt and retract into the casing; the robotic arm is disposed on the casing for pressing the UAV to restrict its vertical degrees of freedom and simultaneously replacing the UAV's battery components; the battery compartment is disposed inside the casing, with its opening facing the robotic arm so that the robotic arm can reach into the battery compartment from the opening to retrieve and place battery components. This invention enables automatic battery component replacement for multi-rotor UAVs, while minimizing UAV displacement during battery component replacement, thereby effectively avoiding battery component replacement failures.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV nest. Background Technology

[0002] A drone is an unmanned aerial vehicle piloted by ground-based radio equipment or an onboard flight control system. It possesses advantages such as small size, ease of use, low requirements for the operational environment, and strong battlefield survivability. Drones can be categorized into military and civilian applications. In the military field, drones are divided into reconnaissance aircraft and target drones; in the civilian field, drones can be integrated with various industries, expanding their applications.

[0003] To achieve the goal of automatically replacing the battery components of unmanned aerial vehicles (UAVs) in their helipads, existing patent publication number CN218594202U discloses an automatic battery swapping UAV mobile operation vehicle. However, this automatic battery swapping UAV mobile operation vehicle cannot automatically replace the battery components of the multi-rotor UAV disclosed in patent number CN220865682U. This is because the landing pad of the automatic battery swapping UAV mobile operation vehicle can only move horizontally, while when the multi-rotor UAV returns and lands on the landing pad, the battery components on the multi-rotor UAV are in an inclined state, not a horizontal state. Therefore, when the multi-rotor UAV... After the drone moves into the nest along with the helipad, the robotic arm of the automatic battery swapping drone mobile operation vehicle cannot replace the battery pack of the multi-rotor drone. In addition, the centering mechanism on the helipad of the automatic battery swapping drone mobile operation vehicle only serves to center the drone, that is, the centering mechanism on the helipad only limits the drone's freedom of movement in the horizontal direction and cannot fix the drone. The robotic arm of the automatic battery swapping drone mobile operation vehicle also cannot restrict the drone's freedom of movement in the vertical direction, which makes it easy for the drone to shift when replacing the battery pack, thus causing the battery pack replacement to fail. Summary of the Invention

[0004] To address the technical problems existing in the background art, the present invention provides a drone nest that can automatically replace the battery components of the multi-rotor drones described in the background art, while minimizing drone displacement during battery component replacement and effectively avoiding battery component replacement failure.

[0005] To solve the above problems, the UAV nest provided by this invention adopts the following technical solution:

[0006] A drone nest, comprising:

[0007] chassis;

[0008] A landing pad is provided on the fuselage for the drone to land. The landing pad is provided with a clearance groove that runs through the upper and lower surfaces of the landing pad. The extension direction of the clearance groove is the same as the length direction of the drone that lands on the landing pad.

[0009] The centering mechanism, set up on the helipad, is used to center the drones parked on the helipad, so that the tail of the drone is vertically aligned with the clearance slot, and at the same time fixes the centered drone on the helipad.

[0010] The linkage drive mechanism is used to drive the landing pad to extend horizontally to the outside of the casing or to drive the landing pad to tilt and retract into the casing. When the landing pad is tilted and retracted into the casing, the body of the UAV parked on the landing pad is in a horizontal state.

[0011] The robotic arm includes a linear drive module, a sliding arm, a pressing component, a drive unit, and a battery gripping component. The linear drive module is housed within the casing and driven by the sliding arm, used to drive the sliding arm to move up and down. The sliding arm extends along the length of the drone's body. One end of the sliding arm facing away from the linear drive module can vertically pass through a clearance groove. Limiting seats are provided on opposite side walls of the sliding arm, and the distance between the two limiting seats forms a limiting groove. The limiting groove is adapted to the tail of the drone's body and clamps and fixes the tail of the drone's body. The pressing component is disposed on the sliding arm and used to press the drone to restrict the drone's vertical degree of freedom. A receiving groove coaxial with the limiting groove is formed on the upper surface of the sliding arm along the extension direction of the sliding arm. The drive unit is disposed on the sliding arm and driven by the battery gripping component, used to drive the battery gripping component to slide along the receiving groove to replace the drone's battery assembly.

[0012] The battery compartment is located inside the housing and below the linkage drive mechanism. The opening of the battery compartment faces the linear drive module so that the battery gripping component can extend into the battery compartment from the opening to pick up and place the battery assembly.

[0013] Furthermore, the linkage drive mechanism includes a drive device and a linkage mechanism. The drive device is disposed inside the housing and is drivenly connected to the linkage mechanism. The linkage mechanism is connected to the helipad. The drive device is used to drive the linkage mechanism to drive the helipad to extend horizontally outside the housing or tilt and retract into the housing.

[0014] Furthermore, the linkage mechanism includes a first link, a connecting arm, and a second link. One end of the first link is hinged to the housing, and the other end of the first link is hinged to one end of the connecting arm. The other end of the connecting arm is hinged to one end of the second link, and the other end of the second link is hinged to the housing, so that the linkage mechanism forms a four-bar linkage. The helipad is fixed to the connecting arm of the four-bar linkage, and the driving device is drivenly connected to the first link of the four-bar linkage, so that the helipad can be horizontally extended outside the housing or tilted and stored inside the housing.

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

[0016] Furthermore, the pressing assembly includes a driving structure, a connecting rod assembly, a limiting bracket, and a pressing block. The two ends of the limiting bracket are respectively hinged to the two limiting seats. The pressing block is connected and fixed to the limiting bracket. One end of the connecting rod assembly is hinged to the pressing block. The driving structure is disposed on the sliding arm and drivenly connected to the other end of the connecting rod assembly. The driving structure is used to drive the connecting rod assembly to drive the pressing block to press the drone.

[0017] Furthermore, the limiting seat is provided with a guide wheel structure for guiding the tail of the UAV into the limiting groove.

[0018] Furthermore, the battery gripping assembly includes a base, a clamping motor, a drive block, and two grippers. The base is slidably disposed within the receiving groove, and the two grippers are symmetrically rotatably disposed on the base. The rotation axis of the grippers extends vertically. The clamping motor is disposed on the base and drivenly connected to the drive block. The opposite sides of the drive block are respectively connected to the two grippers to drive the two grippers to open or close.

[0019] Furthermore, the surface of the drive block that is connected to the gripper is set as an arc-shaped surface, and a roller is rotatably provided at one end of the gripper that is connected to the drive block. The rotation axis of the roller extends vertically, and the arc-shaped surface contacts the roller.

[0020] Furthermore, the centering mechanism includes a linear drive structure and a centering component. The linear drive structure is disposed on the landing pad and is used to drive the centering component to move linearly along the length of the UAV's body. The centering component includes a front seat and two rear seats. The front seat and the two rear seats are connected to form a V-shaped structure. The V-shaped groove of the V-shaped structure and the clearance groove are arranged opposite to each other along the length of the UAV's body when it is parked on the landing pad. The front seat has two stop grooves that communicate with the V-shaped groove. The distance between the two stop grooves is the same as the distance between the two front feet of the UAV. The linear movement of the centering component causes the V-shaped groove to guide the two front feet of the UAV into the two stop grooves respectively.

[0021] Furthermore, each of the rear end seats is equipped with a drive component and a hook, each hook being rotatably connected to its respective rear end seat. The rotation axis of each hook extends vertically. Each drive component is driven and connected to each hook. The drive component is used to drive the hook to rotate so that the two hooks can hook the two rear feet of the drone. The rear end seat is also provided with a rear foot fixing groove for engaging with the rear feet of the drone. The rear end seat is provided with a switch trigger, which is installed in the rear foot fixing groove. The switch trigger is electrically connected to a controller, which is electrically connected to the drive component. The rear feet of the drone can trigger the switch trigger. When the switch trigger is triggered by the rear feet of the drone, the controller controls the drive component to drive the hook to hook the rear feet of the drone and fix the rear feet of the drone in the rear foot fixing groove.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] The drone nest of this invention is applied to the multi-rotor drone disclosed in existing patent CN220865682U. In use, the drone nest of this invention drives the landing pad to extend horizontally outside the drone's casing via a linkage drive mechanism for drone landing. After the drone lands on the landing pad, a centering mechanism centers the drone and secures it to the landing pad. The tail of the centered drone is vertically aligned with the clearance groove on the landing pad. At this point, the linkage drive mechanism drives the landing pad to tilt and retract into the casing. Because the drone is secured to the landing pad, it will not fall. After the landing pad is tilted and retracted into the casing, the drone's body is in a horizontal position, which also positions the drone's battery assembly horizontally. At this point, the linear drive module drives... The sliding arm rises to below the battery pack on the drone, and the drive unit drives the battery gripping component to unlock and remove the battery pack. Then, the linear drive module drives the sliding arm to descend to the opening of the corresponding battery compartment. At this time, the drive unit drives the battery gripping component to place the battery pack into the battery compartment. Next, the battery gripping component grabs the fully charged battery pack from the battery compartment, and then the linear drive module drives the sliding arm to rise and pass through the clearance groove on the landing pad, so that the tail of the drone enters the limiting groove. The rear fixed wing of the drone abuts against the upper surface of the limiting seat. At this time, the pressing component presses the upper surface of the drone to fix the drone. Then, the drive unit drives the battery gripping component to push forward along the receiving groove to push the fully charged battery pack into the drone, completing the automatic replacement of the drone's battery pack.

[0024] In summary, the drone nest of the present invention can automatically replace the battery pack of the multi-rotor drone disclosed in CN220865682U; at the same time, the robotic arm integrates a pressing component for restricting the vertical degree of freedom of the drone, and a limiting groove for restricting the horizontal degree of freedom of the drone, thereby preventing the drone from shifting when replacing the battery pack and effectively avoiding battery pack replacement failure. Attached Figure Description

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

[0026] Figure 2 This is a schematic diagram of the structure of the aircraft nest with the cabin door removed, according to an embodiment of the present invention;

[0027] Figure 3 for Figure 1 Top view;

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

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

[0030] Figure 6 for Figure 5 A structural diagram from another angle;

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

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

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

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

[0035] Figure 11 This is a schematic diagram of the battery gripping component according to an embodiment of the present invention;

[0036] Figure 12 for Figure 11 Top view;

[0037] Figure 13 This is a cross-sectional view of a battery gripping component according to an embodiment of the present invention;

[0038] Figure 14 This is a schematic diagram of the structure of the centralization component according to an embodiment of the present invention;

[0039] Figure 15 for Figure 14 Enlarged structural diagram at point B;

[0040] Figure 16 This is a three-dimensional structural diagram of the centering component according to an embodiment of the present invention;

[0041] Figure 17 for Figure 16 Enlarged structural diagram at point C;

[0042] Figure 18 for Figure 16 Another structural diagram from a different angle;

[0043] Figure 19 for Figure 18 Enlarged structural diagram at point E;

[0044] Figure 20 for Figure 18 Sectional view at point DD;

[0045] Figure 21 for Figure 20 Enlarged structural diagram at point F;

[0046] Figure 22 This is a schematic diagram of the structure of the unmanned aerial vehicle (UAV) according to an embodiment of the present invention;

[0047] Figure 23 This is a schematic diagram of the structure of the drone according to another angle of an embodiment of the present invention.

[0048] Numbering in each attached figure:

[0049] 1. Casing; 10. Cabin door; 11. Connecting rod; 2. Parking apron; 20. Clearance groove; 3. Centering mechanism; 31. Centering assembly; 310. Front end seat; 311. Rear end seat; 312. V-groove; 313. Stop groove; 314. Drive component; 315. Claw; 316. Rear foot fixing groove; 317. Switch trigger; 318. Rotating component; 319. Transmission rod; 320. Rolling wheel; 321. Slide groove; 322. Connecting component; 4. Linkage drive mechanism; 401. Drive rod; 41. Linkage mechanism; 410. First link; 411. Connecting arm; 412. Second link; 5. Robotic arm; 50. Linear drive module; 51. Sliding arm 510. Limiting seat; 5101. Guide wheel structure; 511. Limiting groove; 512. Receiving groove; 52. Pressing assembly; 520. Drive structure; 521. Swing arm; 522. Linkage rod; 523. Limiting bracket; 524. Clamping block; 525. Fixed seat; 53. Battery gripping assembly; 530. Base; 531. Clamping motor; 532. Drive block; 533. Gripper; 5330. Elastic element; 534. Arc surface; 535. Roller; 54. Drive unit; 6. Battery compartment; 7. Gas strut; 8. UAV; 80. Airframe; 81. Battery assembly; 810. Spring cap; 82. Rear fixed wing; 83. Front foot; 84. Rear foot. Detailed Implementation

[0050] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0051] In the description of this invention, it should be understood that the terms "width", "upper", "lower", "front", "rear", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0052] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

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

[0054] Please refer to Figure 1 - Figure 21 This invention provides a drone nest, which is mainly applied to the multi-rotor drone 8 disclosed in the existing patent CN220865682U. That is to say, 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 prior art, it will not be described in detail here.

[0055] Reference Figure 1 - Figure 4 The drone's nest includes a casing 1, a landing pad 2, a centering mechanism 3, a linkage drive mechanism 4, a robotic arm 5, and a battery compartment 6. The casing 1 has a hatch 10. The landing pad 2 is located on the casing 1 and is used for landing the drone 8. An obstacle avoidance groove 20 is provided on the landing pad 2, extending through both the upper and lower surfaces of the landing pad 2. The extension direction of the obstacle avoidance groove 20 is the same as the length direction of the drone 80 landing on the landing pad 2. When the drone 8 returns and lands on the landing pad 2, its nose is higher than its tail. Figure 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 not horizontal, which causes the battery components on the drone 8 to also be not horizontal.

[0056] Reference Figure 1 - Figure 4The linkage drive mechanism 4 is used to drive the landing pad 2 to extend horizontally to the outside of the housing 1 or to drive the landing pad 2 to tilt and retract into the housing 1; wherein, when the landing pad 2 is tilted and retracted into the housing 1, the body 80 of the drone 8 parked on the landing pad 2 is in a horizontal state, so that the battery assembly 81 on the drone 8 is in a horizontal state.

[0057] Reference Figure 1 - Figure 4 The linkage drive mechanism 4 includes a drive device and a linkage mechanism 41. The drive device is located inside the housing 1 and is drivenly connected to the linkage mechanism 41. The linkage mechanism 41 is connected to the landing pad 2. The drive device is used to drive the linkage mechanism 41 to drive the landing pad 2 to extend horizontally outside the housing 1 or tilt and retract into the housing 1. Specifically, two sets of linkage mechanisms 41 are provided, and the two sets of linkage mechanisms 41 are respectively arranged on both sides of the width direction inside the housing 1. Each set of linkage mechanisms 41 includes a first link 410, a connecting arm 411, and a second link 412. One end of the first link 410 is hinged to the housing 1, and the first end of the first link 410 is driven to be connected to the drive rod 401. The first end of the first link 410 is also hinged to the housing 1. The second end of the first link 410 is hinged to one end of the connecting arm 411, and the other end of the connecting arm 411 is hinged to one end of the second link 412. The other end of the second link 412 is hinged to the housing 1, so that the linkage mechanism 41 forms a four-bar linkage mechanism 41. The helipad 2 is fixed on the connecting arm 411, and the driving device is driven to be connected to the first link 410 of the four-bar linkage mechanism 41, so that the helipad 2 can be horizontally extended outside the housing 1 or tilted and stored inside the housing 1. The driving device includes a drive rod 401 and a drive motor (not shown). The drive rod 401 is rotatably mounted inside the housing 1, and the drive motor is mounted inside the housing 1 and drivenly connected to the drive rod 401. The drive rod 401 extends horizontally along the width direction of the housing 1, and its two ends are drivenly connected to the first ends of the first connecting rods 410 of two sets of linkage mechanisms 41, respectively. Therefore, by driving the drive rod 401 to rotate via the drive motor, the two sets of linkage mechanisms 41 can be driven to either horizontally extend the helipad 2 outside the housing 1 or tilt and retract the helipad 2 into the housing 1.

[0058] Reference Figure 1When the landing pad 2 is horizontally extended outside the housing 1, the upper surface of the connecting arm 411 is horizontal, and the lower surface of the connecting arm 411 is tilted upwards. At this time, the landing pad 2, which is fixed to the upper surface of the connecting arm 411, is horizontal. When the landing pad 2 is retracted into the housing 1, the first connecting rod 410 and the second connecting rod 412 are vertical, and the lower surface of the connecting arm 411 is horizontal. Thus, the upper surface of the connecting arm 411 is tilted, allowing the landing pad 2 to be retracted into the housing 1 in an tilted state. Furthermore, when the landing pad 2 is retracted into the housing 1 in an tilted state, the body 80 of the drone 8 parked on the landing pad 2 is exactly horizontal (see reference...). Figure 22 (As shown in the state of the drone 8), thereby making the battery assembly 81 on the drone 8 horizontal.

[0059] Furthermore, the linkage mechanism 41 is linked to the cabin door 10 via the connecting rod 11, as shown in the reference. Figure 1 and Figure 4 Each linkage mechanism 41's first linkage 410 is connected to the cabin door 10 via a connecting rod 11. One end of the connecting rod 11 is hinged to the linkage mechanism 41, and the other end of the connecting rod 11 is hinged to the cabin door 10. Thus, when the drive device drives the linkage mechanism 41 to extend the parking apron 2 outside the fuselage 1, the cabin door 10 opens. When the drive device drives the linkage mechanism 41 to retract the parking apron 2 into the fuselage 1, the cabin door 10 closes, thereby achieving linkage between the cabin door 10 and the parking apron 2.

[0060] Reference Figure 4 To balance the weight of the helipad 2 acting on the linkage mechanism 41, a gas strut 7 is installed inside the housing 1. The gas strut 7 is fixed to one side wall inside the housing 1, and is inclined from bottom to top. The telescopic end of the gas strut 7 is connected to the first linkage 410. When the linkage mechanism 41 drives the helipad 2 to extend outside the housing 1, the telescopic rod of the gas strut 7 extends. When the linkage mechanism 41 drives the helipad 2 to retract inside the housing 1, the telescopic rod of the gas strut 7 retracts, thereby balancing the weight of the helipad 2 acting on the linkage mechanism 41.

[0061] Reference Figure 1 and Figure 2 The centering mechanism 3 is set on the helipad 2 and is used to center the drone 8 parked on the helipad 2 so that the tail of the drone 80 is vertically aligned with the clearance slot 20, and at the same time fixes the centered drone 8 on the helipad 2.

[0062] Reference Figure 1 , Figure 3 , Figure 14 - Figure 23The centering mechanism 3 includes a linear drive assembly (not shown) and a centering assembly 31. The linear drive assembly is selected from linear drive modules 50 or electric push rods and other structures. The linear drive assembly is set on the landing pad 2 and is used to drive the centering assembly to move linearly along the length direction of the body 80 of the UAV 8. The length direction of the body 80 of the UAV 8 is also the length direction of the shell 1. The centering component 31 includes a front seat 310 and two rear seats 311. The front seat 310 and the two rear seats 311 are connected to form a V-shaped structure. The V-shaped groove 312 of the V-shaped structure and the aforementioned clearance groove 20 are arranged directly opposite to the length direction of the body 80 of the UAV 8 parked on the landing pad 2. The front seat 310 has two stop grooves 313 that communicate with the V-shaped groove 312. The distance between the two stop grooves 313 is the same as the distance between the two front feet 83 of the UAV 8. The linear movement of the centering component 31 causes the V-shaped groove 312 to guide the two front feet 83 of the UAV 8 into the two stop grooves 313 respectively, thereby achieving the purpose of centering the UAV 8 on the landing pad 2.

[0063] In addition, refer to Figure 14 - Figure 23 Each rear end seat 311 is equipped with a drive component 314 and a hook 315. Each hook 315 is rotatably connected to each rear end seat 311, and the rotation axis of each hook 315 extends vertically. Each drive component 314 is driven to rotate the hook 315 so that the two hooks 315 can hook the two rear feet 84 of the drone 8. The rear end seat 311 is also provided with a rear foot fixing groove 316 for engaging with the rear feet 84 of the drone 8. The rear end seat 311 is provided with a switch trigger 317, which is installed in the rear foot fixing groove 316. The switch trigger 317 is electrically connected to a controller (not shown), which is electrically connected to the drive component 314. The rear feet 84 of the drone 8 can trigger the switch trigger 317. When the switch trigger 317 is triggered by the rear foot 84 of the drone 8, the controller controls the drive unit 314 to drive the hook 315 to hook the rear foot 84 of the drone 8, and the hook 315 fixes the rear foot 84 of the drone 8 in the rear foot fixing groove 316.

[0064] After the drone 8 lands on the helipad 2 and returns to center, the stop groove 313 on the front mount 310 stops the drone 8's front legs 83, and the drone 8's rear legs 84 are positioned within the rear leg fixing groove 316. At this time, the switch trigger 317 is activated by the drone 8's rear legs 84, transmitting a signal to the controller. The controller then controls the drive component 314 to drive the grappling hook 315 to hook the drone 8's rear legs 84 and fix it within the rear leg fixing groove 316, thus securing the front and rear ends of the drone 8 and fixing the entire drone 8. When the drone 8 is needed, simply control the drive component 314 to disengage the grappling hook 315 from the drone 8's rear legs 84, and the drone 8 can take off vertically in the up-down direction.

[0065] Of course, refer to Figure 14 and Figure 15 A rotating component 318 is fixed to the output end of the drive component 314. The rotating component 318 rotates around the output end of the drive component 314. The rotating component 318 has a ball joint with a transmission rod 319, which is ball jointed with the grappling hook 315. Thus, when the drive component 314 operates, it will cause the rotating component 318 to rotate. The ball joint between the rotating component 318 and the transmission rod 319 is eccentric, meaning the position of the ball joint does not coincide with the rotation axis of the output end of the drive component 314. Therefore, when the rotating component 318 rotates, the transmission rod 319 will pull the grappling hook 315 to move, thereby enabling the grappling hook 315 to contact or separate from the rear footrest 84 of the UAV 8. In this embodiment, the drive component 314 is a servo motor.

[0066] In other embodiments, the drive unit 314 can also be a cylinder. The fixed end of the cylinder is hinged to the rear end seat 311, and the telescopic end of the cylinder is hinged to the hook 315. The telescopic end of the cylinder extends and retracts to achieve contact or separation between the hook 315 and the rear footrest 84 of the drone 8. In this way, the drive unit 314 can drive the hook 315 to hook the rear footrest 84 of the drone 8.

[0067] Additionally, refer to Figure 3 , Figure 16 , Figure 20 and Figure 21 Each of the two rear end seats 311 has a freely rotatable roller 320 on its bottom surface. The roller 320 can roll on the landing pad 2, thereby enabling the movement of the connected front end seat 310 and the two rear end seats 311 on the landing pad 2. Simultaneously, the landing pad 2 has two parallel sliding grooves 321 arranged at intervals along the width direction of the housing 1. The sliding grooves 321 extend along the length direction of the housing 1 and are in the same direction of movement as the roller 320. Each of the two rear end seats 311 has a connecting member 322 on its bottom surface, which slides within the corresponding sliding groove 321.

[0068] Two mounting bases (not shown) are provided on the bottom surface of helipad 2, and two linear drive assemblies are respectively fixed on the two pairs of mounting bases. (Refer to...) Figure 3 and Figure 16 The connector 322 passes through the slide 321 and connects to the corresponding linear drive assembly. The linear drive assembly drives the connector 322 to move, thereby driving the centering assembly 31 to move. At this time, the two rolling wheels 320 roll along the length of the housing 1 on the parking apron 2, which facilitates the movement of the centering assembly 31.

[0069] Reference Figure 5 - Figure 8 , Figure 22 - Figure 23 The robotic arm 5 includes a linear drive module 50, a sliding arm 51, a pressing component 52, a drive unit 54, and a battery gripping component 53. The linear drive module 50 is disposed inside the housing 1 and is drivenly connected to the sliding arm 51 to drive the sliding arm 51 to move up and down. The sliding arm 51 extends along the length of the housing 1, and one end of the sliding arm 51 facing away from the linear drive module 50 can vertically pass through the clearance groove 20. In addition, limit seats 510 are provided on both side walls of the sliding arm 51 along the width direction of the housing 1. The limit seats 510 are fixedly connected to the sliding arm 51, and the distance between the two limit seats 510 forms a limit groove 511. The limit groove 511 is adapted to the tail of the body 80 of the drone 8, so that the limit groove 511 can clamp and fix the tail of the body 80 of the drone 8. The pressing component 52 is disposed on the sliding arm 51 and is used to press the drone 8 to restrict the drone 8's vertical degree of freedom. A receiving groove 512 coaxial with the limiting groove 511 is formed on the upper surface of the sliding arm 51 along the extending direction of the sliding arm 51. The driving unit 54 is disposed on the sliding arm 51 and is drivenly connected to the battery gripping component 53, and is used to drive the battery gripping component 53 to slide along the receiving groove 512 to replace the battery component 81 of the drone 8.

[0070] When replacing the battery pack 81 of the drone 8, the battery gripping component 53 inserts the fully charged battery pack 81 into the battery slot on the drone 8. At this time, the tail of the drone 80 body is located in the limiting groove 511. By pressing the upper surface of the drone 80 body by the pressing component 52, the rear fixed wing 82 of the drone 8 is pressed against the upper surface of the limiting seat 510. At the same time, the tail of the drone 80 body is clamped and fixed by the limiting groove 511, thus achieving the effect of fixing the drone 8 and preventing the battery gripping component 53 from failing to replace the battery pack 81 due to the easy movement of the drone 8.

[0071] Of course, refer to Figure 2 or Figure 4The battery compartment 6 is located inside the housing 1 and below the linkage drive mechanism 4. The opening of the battery compartment 6 faces the linear drive module 50 so that the battery gripping component 53 can extend into the battery compartment 6 from the opening of the battery compartment 6 to pick up and put in the battery component 81.

[0072] Reference Figure 4 , Figure 9 and Figure 10 The pressing component 52 includes a driving structure 520, a connecting rod assembly, a limiting bracket 523, and a pressing block 524. The two ends of the limiting bracket 523 are respectively hinged to two limiting seats 510. The pressing block 524 is connected and fixed to the limiting bracket 523. One end of the connecting rod assembly is hinged to the pressing block 524. The driving structure 520 is disposed on the sliding arm 51 and drivenly connected to the other end of the connecting rod assembly. The driving structure 520 is used to drive the connecting rod assembly to drive the pressing block 524 to press the drone 8.

[0073] Specifically, the drive structure 520 is a drive motor, as shown in the reference. Figure 9 and Figure 10 The linkage assembly includes a swing arm 521 and a connecting rod 522. The drive structure 520 is fixed to the sliding arm 51 by a fixed seat 525. The drive structure 520 is located above the sliding arm 51. The drive structure 520 is driven 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 housing 1. The two ends of the limiting bracket 523 are respectively hinged to two limiting seats 510, and the hinge axis between the limiting bracket 523 and the limiting seats 510 extends along the width direction of the housing 1. Therefore, when the sliding arm 51 rises and passes through the clearance groove 20 of the landing pad 2, so that the tail of the UAV 8 body 80 is located in the limiting groove 511, the drive structure 520 drives the swing arm 521, which in turn drives the connecting rod 522 to drive the clamping block 524 to flip forward. This causes the clamping block 524 to press down on the upper surface of the UAV 8 body 80, restricting the UAV 8's vertical degree of freedom. When it is necessary to release the restriction of the clamping block 524 on the UAV 8's vertical degree of freedom, the drive structure 520 drives the swing arm 521, which in turn drives the connecting rod 522 to drive the clamping block 524 to flip backward, thereby releasing the clamping block 524 from pressing on the UAV 8 body 80.

[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 that the tail of the body 80 of the UAV 8 can enter the limiting groove 511.

[0075] Reference Figure 6 , Figure 11 - Figure 13 The battery gripping assembly 53 includes a base 530, a gripping motor 531, a drive block 532, and two grippers 533. The base 530 is slidably disposed within the receiving groove 512 and is drivenly connected to a drive unit 54. The drive unit 54 is fixed on the sliding arm 51 along the extending direction of the sliding arm 51. The drive unit 54 is a linear drive assembly or a linear electric push rod, etc. The two grippers 533 are symmetrically rotated on the base 530. The rotation axis of the grippers 533 extends vertically, and the drive shaft of the gripping motor 531 extends vertically. The gripping motor 531 is disposed on the base 530, and its drive shaft is drivenly connected to the drive block 532. The opposite sides of the drive block 532 are respectively connected to the two grippers 533 to drive the two grippers 533 to open or close. Specifically, the surface of the drive block 532 connected to the gripper 533 is set as an arc-shaped surface 534. A roller 535 is rotatably mounted on one end of the gripper 533 connected to the drive block 532. The rotation axis of the roller 535 extends vertically, and the arc-shaped surface 534 contacts the roller 535. Therefore, when the clamping motor 531 drives the drive block 532 to rotate, causing both ends of the drive block 532 to contact the two grippers 533 respectively, the two grippers 533 close and clamp the battery assembly 81 of the drone 8. The contact between the two grippers 533 and the opposite sides of the battery assembly 81 is a soft contact to avoid damaging the battery assembly 81. Before the two grippers 533 pull the battery assembly 81 out of the drone 8's body 80, the two grippers 533 will press the spring cap 810 on the battery assembly 81 (e.g., along the width direction of the housing 1) along the width direction of the housing 1. Figure 23 As shown, the spring cap 810 is unlocked from the body 80 of the drone 8. After this, the drive unit 54 will drive the base 530 to move the two grippers 533 to pull the battery assembly 81 out of the body 80 of the drone 8.

[0076] Additionally, refer to Figure 11 The upper surfaces of the two grippers 533 are connected to elastic elements 5330, which improves the clamping stability between the two grippers 533 and facilitates the reset of the two grippers 533.

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

[0078] When in use, the drone nest of this invention is driven by the linkage drive mechanism 4 to horizontally extend the landing pad 2 outside the shell 1 for the drone 8 to land. After the drone 8 lands on the landing pad 2, the centering mechanism 3 centers the drone 8 and fixes it on the landing pad 2. The tail of the centered drone 8 is vertically aligned with the clearance groove 20 on the landing pad 2. At this time, the linkage drive mechanism 4 drives the landing pad 2 to tilt and retract into the shell 1. Since the drone 8 is fixed on the landing pad 2, it will not fall. After the landing pad 2 is tilted and retracted into the shell 1, the drone 8's body 80 is in a horizontal position, making the battery assembly 81 on the drone 8 horizontal. At this time, the linear drive module 50 drives the sliding arm 51 to rise below the battery assembly 81 on the drone 8. The drive unit 54 drives the battery gripping component 53 to unlock and remove the battery assembly 81. Then, the linear drive module drives the sliding arm 51 to descend below the battery assembly 81. At the opening of the battery compartment 6, the drive unit 54 drives the battery gripping component 53 to place the battery component 81 into the battery compartment 6. Then, the battery gripping component 53 grips the fully charged battery component 81 in the battery compartment 6, and the drive unit 54 drives the battery gripping component 53 to move the fully charged battery component 81 to the rear end of the receiving slot 512. Then, the linear drive module 50 drives the sliding arm 51 to rise and pass through the clearance slot 20 on the landing pad 2, so that the tail of the drone 8's body 80 enters the limiting slot 511. At this time, the drive structure 520 drives the swing arm 521, which drives the connecting rod 522 to drive the clamping block 524 to flip forward, so that the clamping block 524 presses down on the upper surface of the drone 8's body 80, restricting the drone 8's vertical degree of freedom. On this basis, the drive unit 54 drives the battery gripping component 53 to push forward along the receiving slot 512 to push the fully charged battery component 81 into the drone 8's body 80, completing the automatic replacement of the drone 8's battery component 81.

[0079] In summary, the drone nest of the present invention can automatically replace the battery pack 81 of the multi-rotor drone 8 disclosed in CN220865682U; at the same time, the robotic arm 5 integrates a pressing component 52 for restricting the vertical degree of freedom of the drone 8 and a limiting groove 511 for restricting the horizontal degree of freedom of the drone 8, thereby preventing the drone 8 from shifting when replacing the battery pack 81 and effectively avoiding the failure of replacing the battery pack 81.

[0080] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A drone nest, characterized in that, include: chassis; The landing pad is set on the fuselage and is used for drones to land. The landing pad is equipped with a clearance groove that runs through the upper and lower surfaces of the landing pad. The extension direction of the clearance groove is the same as the length direction of the drone body that lands on the landing pad. The centering mechanism, set up on the helipad, is used to center the drones parked on the helipad, so that the tail of the drone is vertically aligned with the clearance slot, and at the same time fixes the centered drone on the helipad. The linkage drive mechanism is used to drive the landing pad to extend horizontally to the outside of the fuselage or to tilt and retract the landing pad into the fuselage. When the landing pad is tilted and retracted into the fuselage, the body of the UAV parked on the landing pad is in a horizontal state. The robotic arm includes a linear drive module, a sliding arm, a pressing component, a drive unit, and a battery gripping component. The linear drive module is housed within the casing and driven to the sliding arm, driving the sliding arm to move up and down. The sliding arm extends along the length of the drone's body. One end of the sliding arm facing away from the linear drive module can vertically pass through a clearance groove. Limiting seats are provided on opposite side walls of the sliding arm, and the distance between the two limiting seats forms a limiting groove. The limiting groove is adapted to the tail of the drone's body and clamps and fixes the tail of the drone's body. The pressing component is located on the sliding arm and is used to press the drone to restrict the drone's vertical degree of freedom. A receiving groove coaxial with the limiting groove is formed on the upper surface of the sliding arm along the extension direction of the sliding arm. The drive unit is located on the sliding arm and driven to the battery gripping component, driving the battery gripping component to slide along the receiving groove to replace the drone's battery component. The battery compartment is located inside the housing and below the linkage drive mechanism. The opening of the battery compartment faces the linear drive module so that the battery gripping component can extend into the battery compartment from the opening to pick up and put in the battery components. The centering mechanism includes a linear drive structure and a centering component. The linear drive structure is installed on the landing pad and is used to drive the centering component to move linearly along the length of the UAV. The centering component includes a front seat and two rear seats. The front seat and the two rear seats are connected to form a V-shaped structure. The V-shaped groove of the V-shaped structure and the clearance groove are arranged opposite to each other along the length of the UAV parked on the landing pad. The front seat has two stop grooves that communicate with the V-shaped groove. The distance between the two stop grooves is the same as the distance between the two front feet of the UAV. The linear movement of the centering component causes the V-shaped groove to guide the two front feet of the UAV into the two stop grooves respectively.

2. The UAV nest according to claim 1, characterized in that, The linkage drive mechanism includes a drive device and a linkage mechanism. The drive device is disposed inside the housing and is drivenly connected to the linkage mechanism. The linkage mechanism is connected to the helipad. The drive device is used to drive the linkage mechanism to move the helipad horizontally to the outside of the housing or tilt and store it inside the housing.

3. The UAV nest according to claim 2, characterized in that, The linkage mechanism includes a first link, a connecting arm, and a second link. One end of the first link is hinged to the housing, and the other end of the first link is hinged to one end of the connecting arm. The other end of the connecting arm is hinged to one end of the second link, and the other end of the second link is hinged to the housing, so that the linkage mechanism forms a four-bar linkage. The helipad is fixed to the connecting arm of the four-bar linkage, and the driving device is drivenly connected to the first link of the four-bar linkage, so that the helipad can be horizontally extended outside the housing or tilted and stored inside the housing.

4. The UAV nest according to claim 3, characterized in that, It also includes a gas strut installed inside the housing, the telescopic end of which is connected to the first connecting rod.

5. The UAV nest according to claim 1, characterized in that, The pressing assembly includes a driving structure, a connecting rod assembly, a limiting bracket, and a pressing block. The two ends of the limiting bracket are respectively hinged to the two limiting seats. The pressing block is connected and fixed to the limiting bracket. One end of the connecting rod assembly is hinged to the pressing block. The driving structure is disposed on the sliding arm and drivenly connected to the other end of the connecting rod assembly. The driving structure is used to drive the connecting rod assembly to drive the pressing block to press the drone.

6. The UAV nest according to claim 5, characterized in that, The limiting seat is equipped with a guide wheel structure for guiding the tail of the UAV into the limiting groove.

7. The UAV nest according to claim 1, characterized in that, The battery gripping assembly includes a base, a clamping motor, a drive block, and two grippers. The base is slidably disposed in the receiving groove. The two grippers are symmetrically rotated on the base, and the rotation axis of the grippers extends vertically. The clamping motor is disposed on the base and drivenly connected to the drive block. The opposite sides of the drive block are respectively connected to the two grippers to drive the two grippers to open or close.

8. The UAV nest according to claim 7, characterized in that, The surface of the drive block that is connected to the gripper is set as an arc surface. A roller is rotatably provided at one end of the gripper that is connected to the drive block. The rotation axis of the roller extends vertically, and the arc surface contacts the roller.

9. The UAV nest according to claim 1, characterized in that, Each of the rear end seats is equipped with a drive component and a pawl. Each pawl is rotatably connected to its respective rear end seat, and the rotation axis of each pawl extends vertically. Each drive component is driven by its respective pawl. The drive component drives the pawl to rotate so that the two pawls can hook onto the two rear feet of the drone. The rear end seat is also provided with a rear foot fixing groove for engaging with the rear feet of the drone. The rear end seat is provided with a switch trigger, which is installed in the rear foot fixing groove. The switch trigger is electrically connected to a controller, which is electrically connected to the drive component. The rear feet of the drone can trigger the switch trigger. When the switch trigger is triggered by the rear feet of the drone, the controller controls the drive component to drive the pawl to hook onto the rear feet of the drone, and the pawl fixes the rear feet of the drone in the rear foot fixing groove.

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