Drawer type unmanned aerial vehicle nest

Abstract

The invention relates to the technical field of unmanned aerial vehicle nests, in particular to a drawer type unmanned aerial vehicle nest which comprises a base, a first-stage linear sliding rail arranged on the base, a second-stage linear sliding rail arranged on the first-stage linear sliding rail in a sliding mode, a parking apron arranged on the second-stage linear sliding rail in a sliding mode, a chain type transmission mechanism arranged on the base in a transmission mode and a driving source. Centering wings are arranged on the two outer side walls of the second-stage linear sliding rail, and locking pieces are rotationally arranged on the outer side walls of the second-stage linear sliding rail; the driving source is used for driving the chain transmission mechanism to drive the parking apron to slide; in the returning process of the unmanned aerial vehicle, the locking piece and the limiting piece on the base are used for stopping, so that the rear foot stand of the unmanned aerial vehicle on the parking apron is blocked and returned by the returning wing, the rear foot stand of the unmanned aerial vehicle enters the rear foot limiting groove under the guide of the returning guide surface to realize returning of the unmanned aerial vehicle, and meanwhile, the locking piece and the limiting piece are unlocked, so that the secondary linear sliding rail retracts; the unmanned aerial vehicle nest can use the same driving source to achieve extension and retraction of the parking apron and centering of the unmanned aerial vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of drone nests, and in particular to a drawer-type drone nest. Background Art

[0002] Drone nests are widely used in various scenarios that require drones to be automatically docked and released, such as drone logistics, agricultural plant protection, power inspection and other fields.

[0003] At present, the existing drawer-type drone nest usually includes a casing, a driving module, a centering device and a helipad. The driving module is arranged in the casing and is used to drive the helipad to extend or retract into the cabin; the centering device is arranged on the helipad. The centering device usually includes a driving motor and a centering component. The driving unit is used to drive the centering component to realize the centering of the drone. For example, the existing patent announcement number CN213502945U discloses a mobile nest for automatically replacing batteries of a small drone and its helipad. The centering device is mainly composed of a driving motor and a frame fixing claw. Two driving motors are arranged at the bottom of the landing platform. Four waist-shaped grooves arranged in an array are opened in the middle of the landing platform, which are respectively located on both sides of the two driving motors, for the frame fixing claws to extend out of the waist-shaped grooves to fix the drone frame. During movement, the frame fixing claws are driven by the driving motor, and the two sets of frame fixing claws move toward each other at the same time to clamp and fix and center the drone.

[0004] In summary, the drive module used to drive the extension and retraction of the helipad in the existing drawer-type drone nest is one drive source, and the drive motor used to drive the centering component to realize the centering of the drone is another drive source. As a result, the existing drone nest cannot use the same drive source to realize the extension and retraction of the helipad and the centering of the drone, thereby greatly increasing the manufacturing cost of the drone nest. Summary of the invention

[0005] One of the purposes of the present invention is to provide a drawer-type drone nest, aiming to solve the technical problem that the existing drone nest cannot use the same driving source to achieve the extension and retraction of the apron and the centering of the drone.

[0006] In order to achieve the above object, the present invention provides a drawer-type drone nest, comprising:

[0007] Base;

[0008] A primary linear guide rail is fixed on the base, the axial direction of the primary linear guide rail is a horizontal first direction, and a horizontal direction perpendicular to the horizontal first direction is set as a horizontal second direction;

[0009] The secondary linear slide rail is slidably arranged on the primary linear slide rail along the first horizontal direction, and the secondary linear slide rail is provided with centering wings on both outer side walls along the second horizontal direction;

[0010] A locking member is rotatably disposed on at least one outer side wall of the secondary linear slide rail through a rotating shaft, the locking member is located behind the centering wing, a torsion spring is sleeved on the rotating shaft, the torsion spring is located between the locking member and the secondary linear slide rail, and opposite ends of the torsion spring are respectively connected to the secondary linear slide rail and the locking member;

[0011] A helipad is slidably arranged on a secondary linear slide rail along a first horizontal direction, the helipad can slide under the centering wing along the first horizontal direction, the upper surface of the helipad includes a front foot parking area for two front tripods of the UAV and two rear foot parking areas for two rear tripods of the UAV, the two rear foot parking areas are symmetrical about the central axis of the helipad in the first horizontal direction, the two rear foot parking areas are both provided with rear foot limiting grooves for engaging with the bottom of the rear tripod of the UAV, and each rear foot parking area is also provided with a centering guide surface for guiding the UAV to return to the center;

[0012] A chain drive mechanism, the drive is arranged on the base and connected to the apron drive;

[0013] A driving source is disposed on the base, and is used to drive the chain transmission mechanism to drive the apron to slide along a first horizontal direction, so that the apron can be blocked by the front end or the rear end of the secondary linear slide rail, so as to drive the secondary linear slide rail to slide out or slide back along the primary linear slide rail;

[0014] Among them, when the driving source drives the apron to slide along the secondary linear slide rail back to the centering UAV, the locking piece and the limit piece fixed on the base are stopped to prevent the secondary linear slide rail from sliding back along the primary linear slide rail, so that the rear leg of the UAV on the apron is blocked by the centering wing. The rear leg of the UAV enters the rear leg limit groove under the guidance of the centering guide surface to realize the centering of the UAV. At the same time, the apron slides just to the locking piece to drive the locking piece to rotate, unlocking the stop between the limit piece and the locking piece.

[0015] Furthermore, a positioning groove is provided on the front end surface of the centering wing, and the center axis of the positioning groove in the first horizontal direction is collinear with the center axis of the rear foot limiting groove in the first horizontal direction.

[0016] Furthermore, the chain transmission mechanism includes a transmission shaft, a driving sprocket, a window push anti-bending chain and a chain guide assembly, the transmission shaft is rotatably arranged on the base, the transmission shaft extends along a horizontal second direction, the driving sprocket is fixed on the transmission shaft, and the driving source is connected to the transmission shaft to drive the transmission shaft to rotate; the chain guide assembly is located on one side of the primary linear slide rail in the horizontal second direction, and the window push anti-bending chain is connected to the driving sprocket; the chain guide assembly is provided with a first chain guide groove which runs through one end of the chain close to the driving sprocket, the first end of the window push anti-bending chain is connected and fixed to the bottom of the apron, and the second end of the window push anti-bending chain is a free end, and the chain core of the free end is slidably clamped by the first chain guide groove, so that the free end of the window push anti-bending chain can slide along the first chain guide groove.

[0017] Furthermore, the chain guide assembly includes a first chain guide plate and a second chain guide plate, both of which are arranged on a base, both of which extend along a first horizontal direction and are vertically spaced apart, and the spacing between the first chain guide plate and the second chain guide plate forms the first chain guide groove.

[0018] Furthermore, a second chain guide groove is also provided on the chain guide assembly, and the second chain guide groove extends along the first horizontal direction, and the second chain guide groove is located above the first chain guide groove. The end of the second chain guide groove facing away from the driving sprocket is connected to the first chain guide groove, and the part where the end of the second chain guide groove facing away from the driving sprocket is connected to the first chain guide groove is connected by an arc transition.

[0019] Furthermore, the chain guide assembly also includes a chain third guide plate, which is arranged on the base, the chain third guide plate extends along the horizontal first direction, the chain third guide plate and the chain second guide plate are vertically spaced apart, and the distance between the chain third guide plate and the chain second guide plate forms the chain second guide groove.

[0020] Furthermore, a slide groove is provided on the upper surface of the secondary linear slide rail, and the slide groove extends along the axial direction of the secondary linear slide rail. Optical rods extending along the axial direction of the slide groove are provided on the opposite side walls of the slide groove. A pulley is vertically provided at the bottom of the apron, and a groove is circumferentially provided on the circumferential surface of the pulley for rolling contact with the optical rod.

[0021] Furthermore, the base is also provided with a charging telescopic module located above the secondary linear slide rail. The process of the secondary linear slide rail sliding and retracting along the primary linear slide rail drives the charging port on the battery assembly of the drone on the apron to plug into the charging telescopic module for charging.

[0022] Furthermore, the charging telescopic module includes a fixed seat, a sliding seat, a buffer structure and a charging terminal module. The fixed seat is connected and fixed to the base, and the sliding seat is set on the fixed seat to slide along the axial direction of the primary linear slide rail. One end of the buffer structure is connected to the fixed seat, and the other end is connected to the sliding seat, which is used to buffer the sliding of the sliding seat in the axial direction of the primary linear slide rail. The charging terminal module is electrically connected to the power supply module set on the fixed seat, and the charging terminal module is set at the front end of the sliding seat, which is used to plug and charge with the charging port on the battery assembly of the drone.

[0023] Furthermore, a mounting seat is fixed to the front end of the sliding seat, and a T-shaped groove penetrating the front end surface thereof is provided on the upper surface of the mounting seat in a first horizontal direction; the charging terminal module comprises a movable seat and a charging terminal, the charging terminal is fixed on the movable seat, the charging terminal passes through the front end surface of the movable seat, and the other end is electrically connected to the power supply module; the T-shaped groove comprises a mounting groove and an avoidance groove, one end of the movable seat is placed in the mounting groove, and the other end extends from the position of the avoidance groove, so that the movable seat can move in the vertical and horizontal second directions; a cover plate is provided on the upper surface of the mounting seat, and a cover plate is provided between the movable seat and the cover plate A first elastic member is connected, and the two side walls of the movable seat in the second horizontal direction are set as first connecting walls, and the two side walls in the installation groove in the second horizontal direction are set as second connecting walls, and a second elastic member is connected between each first connecting wall and each second connecting wall; guide parts are also provided on the opposite sides of the front end of the movable seat, which are used to guide the battery assembly on the drone into between the two guide parts. During the process of the guide part guiding the battery assembly between the two guide parts, the force of the battery assembly acting on the guide part forces the movable seat to automatically compensate for the deviation between the charging terminal and the charging port in the vertical and horizontal second directions.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] When the drawer-type drone nest of the present invention is in use, if it is necessary to drive the helipad to slide out of the shell of the nest for the drone to dock, the drive source drives the chain transmission mechanism to drive the helipad to slide out along the secondary linear slide rail. When the helipad slides to the front end of the secondary linear slide rail, the helipad slides and drives the secondary linear slide rail to slide out along the primary linear slide rail under the obstruction of the front end of the secondary linear slide rail. In the process of the secondary linear slide rail sliding out along the primary linear slide rail, the locking member passes over the limiting member under the elastic force of the torsion spring, so that the rear end of the locking member cooperates with the limit member stopper. When the drone returns and docks on the helipad, , the driving source drives the apron to slide back along the secondary linear slide; in the process of the apron sliding back to the centering drone along the secondary linear slide, the locking member cooperates with the limit member to stop the secondary linear slide, preventing the secondary linear slide from sliding back along the primary linear slide. Therefore, when the rear tripod of the drone on the apron is blocked by the centering wing, the rear tripod of the drone enters the rear foot limit groove under the guidance of the centering guide surface to realize the centering of the drone. At the same time, the apron also slides to the locking member to drive the locking member to rotate, unlocking the limit member and the stop of the locking member, so that the secondary linear slide slides back into the casing along the primary linear slide under the drive of the apron. In summary, the drawer-type drone nest of the present invention overcomes the technical defect that the existing drone nest cannot use the same driving source to realize the extension and retraction of the apron and the centering of the drone. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of a movement of a drone nest in an embodiment;

[0027] Figure 2 for Figure 2 A schematic diagram of the structure from another angle;

[0028] Figure 3 for Figure 2 A schematic diagram of the enlarged structure at A in the middle;

[0029] Figure 4 for Figure 1 A top view of

[0030] Figure 5 The structure of the drone nest in the embodiment is shown in FIG. Figure 1 ;

[0031] Figure 6 The structure of the drone nest in the embodiment is shown in FIG. Figure 2 ;

[0032] Figure 7 It is a schematic diagram of the structure of the embodiment in which the movement is removed from the apron;

[0033] Figure 8 It is a schematic diagram of the structure of the connection between the driving source, the chain guide assembly and the base in the embodiment;

[0034] Fig. 9 It is a schematic diagram of the structure of the secondary linear slide rail involved in the embodiment;

[0035] Fig.10 It is a schematic diagram of the structure of the apron involved in the embodiment;

[0036] Fig.11 It is a structural schematic diagram of a charging telescopic module involved in an embodiment;

[0037] Fig.12 for Fig.11 A schematic diagram of the structure from another angle;

[0038] Fig.13 It is a schematic diagram of the structure of the mounting seat involved in the embodiment;

[0039] Fig.14 This is a schematic diagram of the structure of the connection between the mounting base and the charging terminal module in the embodiment;

[0040] Fig.15 This is a schematic diagram of the structure of the charging terminal module involved in the embodiment;

[0041] Fig.16 Schematic diagram of the structure of the drone involved in the embodiment.

[0042] Reference numerals in the accompanying drawings:

[0043] 1. Base; 10. Limiting piece; 2. Primary linear guide rail; 3. Secondary linear guide rail; 30. Slideway; 301. Bare rod; 31. Front limiting part; 32. Rear limiting part; 33. Centering wing; 330. Positioning groove; 34. Passive sprocket; 4. Locking piece; 5. Helicopter landing area; 50. Front foot parking area; 51. Rear foot parking area; 510. Rear foot limiting groove; 511. Stop groove; 512. Centering guide surface; 512 1. Guide slope; 513. Sidewall strip; 52. Pulley; 520. Groove; 6. Chain transmission mechanism; 60. Transmission shaft; 61. Driving sprocket; 62. Window push anti-bending chain; 63. Chain guide assembly; 630. First chain guide plate; 631. Second chain guide plate; 632. Third chain guide plate; 633. First chain guide groove; 634. Second chain guide groove; 7. Driving source; 8. Casing; 9. Charging Telescopic module; 90, fixed seat; 901, power supply module; 91, sliding seat; 910, proximity switch; 92, first spring; 93, second spring; 94, charging terminal module; 940, movable seat; 9401, first spring mounting hole; 9402, first spring guide column; 9403, first connecting wall; 9404, second spring mounting hole; 9405, second spring guide column; 9406, waist-shaped groove; 941, charging Terminal; 942, guide part; 9421, guide body; 9422, inclined guide surface; 9423, straight guide groove; 9424, guide opening; 95, mounting seat; 950, mounting groove; 9501, second connecting wall; 9502, third spring guide column; 951, avoidance groove; 9511, arc-shaped wall surface; 952, cover plate; 96, drone; 961, rear tripod; 962, front tripod; 963, battery assembly. DETAILED DESCRIPTION

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Please refer to Figure 1 - Fig.15 The present invention provides a drawer-type drone nest.

[0049] Reference Figure 1 and Figure 5 The drawer-type drone nest includes a movement and a housing 8, and the movement includes a base 1, a primary linear slide 2, a secondary linear slide 3, a locking member 4, a landing pad 5, a chain transmission mechanism 6 and a driving source 7. The primary linear slide 2 is fixed on the base 1, and the axial direction of the primary linear slide 2 is a horizontal first direction, and the horizontal direction perpendicular to the horizontal first direction is set as a horizontal second direction; the secondary linear slide 3 is slidably arranged on the primary linear slide 2 along the horizontal first direction, and the two outer side walls of the secondary linear slide 3 along the horizontal second direction are both provided with centering wings 33, and the centering wings 33 extend along the horizontal second direction.

[0050] Reference Figure 1 - Figure 3 The locking member 4 is rotatably arranged on at least one outer side wall of the secondary linear guide rail 3 via a rotating shaft (not shown in the figure). The locking member 4 is located behind the centering wing 33. A torsion spring (not shown in the figure) is sleeved on the rotating shaft. The torsion spring (not shown in the figure) is located between the locking member 4 and the secondary linear guide rail 3, and the opposite ends of the locking member 4 are respectively connected to the secondary linear guide rail 3 and the locking member 4.

[0051] Reference Figure 1 , Figure 4 and Fig.16The apron 5 is slidably arranged on the secondary linear slide rail 3 along the first horizontal direction. The apron 5 can slide under the centering wing 33 along the first horizontal direction. The upper surface of the apron 5 includes a front foot parking area 50 for two front tripods 962 for parking the drone 96 and two rear foot parking areas 51 for two rear tripods 961 for parking the drone 96 respectively. The two rear foot parking areas 51 are symmetrical about the central axis of the apron 5 in the first horizontal direction. The two rear foot parking areas 51 are both provided with rear foot limiting grooves 510 for being engaged with the bottom of the rear tripod 961 of the drone 96. Each rear foot parking area 51 is also provided with a centering guide surface 512 for guiding the drone 96 to return to the center. The centering guide surface 512 includes two guiding inclined surfaces 5121, and the two guiding inclined surfaces 5121 are symmetrical about the central axis of the rear foot limiting groove 510 in the first horizontal direction. The chain transmission mechanism 6 is transmission-disposed on the base 1, and the chain of the chain transmission mechanism 6 is drivingly connected to the apron 5. The driving source 7 is fixed on the base 1, and is used to drive the chain transmission mechanism 6 to drive the apron 5 to slide along the horizontal first direction, so that the apron 5 can be blocked by the front end or the rear end of the secondary linear slide 3, so as to drive the secondary linear slide 3 to slide out or slide back along the primary linear slide 2.

[0052] Among them, the limit member 10 is a cylindrical structure, and the limit member 10 extends along the second horizontal direction. When the apron 5 slides back to the center of the UAV 96 along the secondary linear slide 3, the locking member 4 and the limit member 10 fixed on the base 1 are stopped to prevent the secondary linear slide 3 from sliding back along the primary linear slide 2, so that the rear leg 961 of the UAV 96 on the apron 5 is blocked by the centering wing 33, so that the rear leg 961 of the UAV 96 enters the rear leg limit groove 510 under the guidance of the centering guide surface 512 to realize the centering of the UAV 96. At the same time, the apron 5 just slides to the locking member 4 to drive the locking member 4 to rotate, so as to unlock the limit member 10 and the stop of the locking member 4.

[0053] In summary, when the drawer-type drone nest of the present invention is in use, if it is necessary to drive the helipad 5 to slide out of the shell 8 of the nest for the drone 96 to dock, the chain transmission mechanism 6 is driven by the driving source 7 to drive the helipad 5 to slide out along the secondary linear slide rail 3. When the helipad 5 slides to the front end of the secondary linear slide rail 3, the helipad 5 slides under the obstruction of the front end of the secondary linear slide rail 3 and drives the secondary linear slide rail 3 to slide out along the primary linear slide rail 2; in the process of the secondary linear slide rail 3 sliding out along the primary linear slide rail 2, the locking member 4 passes over the limit member 10 under the elastic force of the torsion spring, so that the rear end of the locking member 4 cooperates with the stopper of the limit member 10; when the drone 96 returns and docks on the helipad 5, the driving source 7 drives the The apron 5 slides back along the secondary linear slide rail 3; in the process of the apron 5 sliding back to the centering UAV 96 along the secondary linear slide rail 3, the locking member 4 cooperates with the limit member 10 to prevent the secondary linear slide rail 3 from sliding back along the primary linear slide rail 2. Therefore, when the rear leg 961 of the UAV 96 on the apron 5 is blocked by the centering wing 33, the rear leg 961 of the UAV 96 enters the rear leg limit groove 510 under the guidance of the centering guide surface 512 to realize the centering of the UAV 96. At the same time, the apron 5 also slides to the locking member 4 to drive the locking member 4 to rotate, unlocking the limit member 10 and the stop of the locking member 4, so that the secondary linear slide rail 3 slides back to the casing 8 along the primary linear slide rail 2 under the drive of the apron 5. It can be seen from this that the drawer-type drone 96 nest of the present invention uses the same driving source 7 to achieve the extension and retraction of the helipad 5 and the centering of the drone 96, overcoming the technical defect that the existing drone 96 nest cannot use the same driving source 7 to achieve the extension and retraction of the helipad 5 and the centering of the drone 96.

[0054] It should be noted that, during the process of the apron 5 sliding back along the horizontal first direction, when the apron 5 slides to the locking member 4, driving the locking member 4 to rotate, unlocking the stopper 10 and the stopper of the locking member 4 ( Figure 5 The locking member 4 is in the locked state. Figure 6 The locking member 4 is in the unlocked state), and the rear end of the apron 5 is just in contact with the rear end limit portion 32 on the secondary linear slide 3. Under the blocking of the rear end limit portion 32 and the driving action of the driving source 7, the apron 5 drives the secondary linear slide 3 to slide back along the primary linear slide 2.

[0055] Reference Figure 1 and Figure 8The chain transmission mechanism 6 includes a transmission shaft 60, a driving sprocket 61, a push-window anti-bending chain 62 and a chain guide assembly 63. The transmission shaft 60 is rotatably arranged on the base 1 through a bearing, and the transmission shaft 60 extends along the horizontal second direction. The driving sprocket 61 is fixed on the transmission shaft 60. The driving source 7 uses a driving motor, and the driving source 7 is drivingly connected to the transmission shaft 60 to drive the transmission shaft 60 to rotate; the chain guide assembly 63 is located on one side of the primary linear slide 2 in the horizontal second direction, and the push-window anti-bending chain 62 is drivingly connected to the driving sprocket 61; the chain guide assembly 63 is provided with a chain first guide groove 633 that runs through one end of the push-window anti-bending chain 62 that is close to the driving sprocket 61, the first end of the push-window anti-bending chain 62 is connected and fixed to the bottom of the apron 5, and the second end of the push-window anti-bending chain 62 is a free end, and the chain core of the free end is slidably clamped by the chain first guide groove 633, so that the free end of the push-window anti-bending chain 62 can slide along the chain first guide groove 633. From this, it can be understood that the driving unit drives the transmission shaft 60 to rotate, driving the window push anti-bending chain 62 to transmit, thereby driving the apron 5 to slide along the first horizontal direction, and the free end of the window push anti-bending chain 62 slides along the first guide groove 633 of the chain and will not separate from the first guide groove 633 of the chain.

[0056] In addition, a second chain guide groove 634 is also provided on the chain guide assembly 63. The second chain guide groove 634 extends along the horizontal first direction. The second chain guide groove 634 is located above the first chain guide groove 633. The end of the second chain guide groove 634 facing away from the driving sprocket 61 is connected to the first chain guide groove 633. The part where the end of the second chain guide groove 634 facing away from the driving sprocket 61 is connected to the first chain guide groove 633 is connected by an arc transition. Specifically, it can be understood that the driving motor rotates forward, driving the window anti-bending chain 62 to drive the apron 5 to slide from the rear end limit portion 32 of the secondary linear slide 3 to the front end limit portion 31 of the secondary linear slide 3. At the same time, the free end of the window anti-bending chain 62 slides along the second guide groove 634 of the chain. When the apron 5 contacts the front end limit portion 31, the apron 5 continues to be driven by the driving motor to drive the secondary linear slide 3 to slide out along the primary linear slide 2. At the same time, the free end of the window anti-bending chain 62 slides from the second guide groove 634 of the chain to the first guide groove 633 of the chain but will never leave the first guide groove 633 of the chain. Similarly, when the driving motor reverses and drives the window anti-bending chain 62 to drive the apron 5 to slide from the front end limit portion 31 of the secondary linear slide 3 to the rear end limit portion 32, the free end of the window anti-bending chain 62 slides along the first chain guide groove 633. When the apron 5 contacts the rear end limit portion 32, the apron 5 continues to be driven by the driving motor to drive the secondary linear slide 3 to slide and retract along the primary linear slide 2. During this process, the free end of the window anti-bending chain 62 slides from the first chain guide groove 633 to the second chain guide groove 634. In summary, by providing the second chain guide groove 634, the length of the first chain guide groove 633 in the horizontal first direction can be reduced, thereby reducing the overall size of the drone 96 nest.

[0057] It should be noted that the use of the above-mentioned chain transmission mechanism 6 can realize multi-stage extension and retraction of the apron 5. If it is necessary to realize three-stage extension and retraction of the apron 5, a three-stage linear slide rail can be set on the secondary linear slide rail 3 along the first horizontal direction, and then the apron 5 can be slid along the first horizontal direction on the three-stage linear slide rail. Correspondingly, a third chain guide groove is set above the second chain guide groove 634. The principle of realizing the three-stage extension and retraction of the apron 5 is the same as the principle of realizing the two-stage extension and retraction of the apron 5, which will not be repeated here.

[0058] Reference Figure 8The chain guide assembly 63 includes a first chain guide plate 630, a second chain guide plate 631 and a third chain guide plate 632, which are arranged on the base 1, and the first chain guide plate 630, the second chain guide plate 631 and the third chain guide plate 632 can be detachably connected to the base 1 by screws, the first chain guide plate 630 and the second chain guide plate 631 both extend along the horizontal first direction and are arranged vertically at intervals, and the spacing between the first chain guide plate 630 and the second chain guide plate 631 forms the above-mentioned first chain guide groove 633; ​​the third chain guide plate 632 extends along the horizontal first direction, and the third chain guide plate 632 and the second chain guide plate 631 are arranged vertically at intervals, and the spacing between the third chain guide plate 632 and the second chain guide plate 631 forms the above-mentioned second chain guide groove 634. In addition, the third chain guide plate 632 is integrally connected to the first chain guide plate 630, and the second chain guide plate 631 is located between the third chain guide plate 632 and the first chain guide plate 630. In this way, by adjusting the height of the first chain guide plate 630 or the second chain guide plate 631, the size of the first chain guide groove 633 and the second chain guide groove 634 can be adjusted to adapt to window sliding anti-bending chains 62 of different sizes.

[0059] Reference Figure 1 or Figure 2 , driving sprockets 61 are provided at opposite ends of the transmission shaft 60, and both driving sprockets 61 are drivingly connected with window push anti-bending chains 62, and the two window push anti-bending chains 62 are respectively located on opposite sides of the primary linear slide 2 in the horizontal second direction, and the chain guide assembly 63 is also provided with two groups, and the two groups of chain guide assemblies 63 are respectively located on opposite sides of the primary linear slide 2 in the horizontal second direction, and the chain core of the free end of each window push anti-bending chain 62 is slidably clamped by the first chain guide groove 633 on each chain guide assembly 63. It can be seen from this that the above-mentioned driving sprockets 61 are provided with two, the window push anti-bending chains 62 are provided with two, and the chain guide assembly 63 is provided with two groups, so that the process of the chain transmission mechanism 6 driving the apron 5 to extend and retract along the horizontal first direction is more stable and has good stability.

[0060] Reference Figure 1 A passive sprocket 34 is rotatably provided on the opposite side walls of the secondary linear slide rail 3 along the first horizontal direction. The rotation axis of the passive sprocket 34 is parallel to the rotation axis of the transmission shaft 60. Each window push anti-bending chain 62 is also transmission-connected to each passive sprocket 34, thereby improving the transmission performance of the window push anti-bending chain 62.

[0061] Refer to 1. Figure 4 , Fig. 9 and Fig.10The upper surface of the secondary linear slide 3 is provided with a slide groove 30, which extends along the axial direction of the secondary linear slide 3. The opposite side walls in the slide groove 30 are provided with a polished rod 301 extending along the axial direction of the slide groove 30. A pulley 52 is vertically fixed to the bottom of the apron 5, and a groove 520 is circumferentially provided on the circumferential surface of the pulley 52 for rolling contact with the polished rod 301. In this way, the friction between the apron 5 and the secondary linear slide 3 can be reduced, so that the apron 5 can slide more smoothly along the secondary linear slide 3.

[0062] In addition, the structure of the primary linear slide 2 is the same as that of the secondary linear slide 3, that is, the sliding structure between the primary linear slide 2 and the secondary linear slide 3 adopts the sliding structure between the apron 5 and the secondary linear slide 3, which will not be repeated here.

[0063] Limit seats are provided at both ends of the primary linear slide rail 2. When the secondary linear slide rail 3 slides along the primary linear slide rail 2, the limit seats can prevent the secondary linear slide rail 3 from separating from the primary linear slide rail 2.

[0064] Reference Figure 1 , Figure 4 and Fig.16 A positioning groove 330 is provided on the front end surface of the centering wing 33, and the central axis of the positioning groove 330 in the first horizontal direction is in line with the central axis of the rear foot limit groove 510 in the first horizontal direction. After the drone 96 is centered, the rear side of the rear foot frame 961 of the drone 96 is located in the positioning groove 330 and cooperates with the stopper of the positioning groove 330, and the bottom front end of the rear foot frame 961 of the drone 96 cooperates with the stopper of the rear foot limit groove 510, so that the drone 96 is clamped and fixed on the apron 5. Among them, the coordinated use of the positioning groove 330 and the rear foot limit groove 510 can make the stability of the drone 96 fixed on the apron 5 better.

[0065] Reference Figure 4 The front end surface of the centering wing 33 has a certain inclination. The inclination of the front end surface of the centering wing 33 is divided into two sections. In the same centering wing 33, the two sections of inclination are symmetrical about the central axis of the positioning groove 330 in the horizontal first direction. The inclination of the front end surface of the centering wing 33 is mainly used to assist the UAV 96 in centering.

[0066] Based on the above structure, refer to Figure 1 , Fig.11 , Fig.12The base 1 is also provided with a charging telescopic module 9 located above the secondary linear slide 3. The secondary linear slide 3 slides and retracts along the primary linear slide 2, driving the charging port (not shown) on the battery assembly 963 of the drone 96 on the apron 5 to plug and charge with the charging telescopic module 9. It can be seen that the entire machine nest only needs to use one driving source 7 to achieve the technical effects of returning the drone 96, retracting the apron 5, and charging the drone 96, thereby optimizing the space utilization inside the housing 8.

[0067] Reference Figure 1 , Fig.11 and Fig.12 The charging telescopic module 9 includes a fixed seat 90, a sliding seat 91, a buffer structure and a charging terminal module 94. The fixed seat 90 is connected and fixed to the base 1, and the sliding seat 91 is slidably arranged on the fixed seat 90 along the horizontal first direction; one end of the buffer structure is connected to the fixed seat 90, and the other end of the buffer structure is connected to the sliding seat 91, which is used to buffer the sliding of the sliding seat 91 in the axial direction of the primary linear slide rail 2; the charging terminal module 94 is electrically connected to the power supply module 901 arranged on the fixed seat 90, and the charging terminal module 94 is arranged at the front end of the sliding seat 91, which is used to plug and charge with the charging port on the battery assembly 963 of the drone 96. The buffer structure can prevent the charging terminal module 94 from hard contact with the charging port of the drone 96.

[0068] Reference Fig.11 - Fig.15A mounting seat 95 is fixed to the front end of the sliding seat 91, and a T-shaped slot is provided on the upper surface of the mounting seat 95 along the horizontal first direction and passes through the front end surface thereof. The charging terminal module 94 includes a movable seat 940 and a charging terminal 941. The charging terminal 941 is fixed on the movable seat 940, and the charging terminal 941 passes through the front end surface of the movable seat 940, and the other end is electrically connected to the power supply module 901; the T-shaped slot includes a mounting slot 950 and an avoidance slot 951, one end of the movable seat 940 is placed in the mounting slot 950, and the other end extends from the position of the avoidance slot 951, so that the movable seat 940 can move in the vertical and horizontal second directions. A cover plate 952 is provided on the upper surface of the mounting seat 95, a first elastic member is connected between the movable seat 940 and the cover plate 952, the two side walls of the movable seat 940 in the second horizontal direction are set as first connecting walls 9403, the two side walls in the mounting groove 950 in the second horizontal direction are set as second connecting walls 9501, and a second elastic member is connected between each first connecting wall 9403 and each second connecting wall 9501; guide parts 942 are also provided on the opposite sides of the front end of the movable seat 940, which are used to guide the battery assembly 963 on the drone 96 to enter between the two guide parts 942. In the process of the guide part 942 guiding the battery assembly 963 of the drone 96 into the two guide parts 942, the force of the battery assembly 963 of the drone 96 acting on the guide part 942 forces the movable seat 940 to automatically compensate for the deviation between the charging terminal 941 and the charging port in the vertical and horizontal second directions.Specifically, it can be understood that when the charging telescopic module 9 charges the drone 96, the charging terminal 941 is powered by the power supply module 901. Since one end of the movable seat 940 is placed in the T-shaped slot of the mounting seat 95, and the other end extends out of the T-shaped slot of the mounting seat 95 along the first horizontal direction, and the movable seat 940 can move in the vertical and second horizontal directions, the first elastic member connected between the movable seat 940 and the cover plate 952, and the second elastic member connected between each first connecting wall 9403 on the movable seat 940 and each second connecting wall 9501 in the mounting groove 950, enable the movable seat 940 to move elastically in the vertical and second horizontal directions; and since the movable seat 940 is fixed on the sliding seat 91, the sliding of the sliding seat 91 in the first horizontal direction is buffered by the buffer structure, This movable seat 940 can be elastically movable in the vertical direction, the first horizontal direction and the second horizontal direction. When the battery assembly 963 of the drone 96 enters between the two guide parts 942 set at the front end of the movable seat 940 along the first direction, the buffer structure is elastically compressed, and the force of the drone 96 acting on the guide part 942 forces the movable seat 940 to automatically compensate for the deviation between the charging terminal 941 and the charging port of the drone 96 in the vertical and horizontal second directions, so that the charging terminal 941 on the charging terminal module 94 automatically adapts to align with the charging port of the drone 96. At the same time, under the elastic force of the buffer structure, the movable seat 940 slides forward along the first horizontal direction, so that the charging terminal 941 on the movable seat 940 is accurately inserted into the charging port of the drone 96 to charge the drone 96. It can be seen from this that the charging telescopic module 9 involved in this embodiment can automatically compensate for the deviation between the charging terminal 941 and the charging port of the drone 96 in the vertical and horizontal second directions, so that the charging terminal 941 can be accurately inserted into the charging port of the drone 96, greatly improving the charging efficiency of the drone 96.

[0069] Of course, the charging port (not shown) of the drone 96 parked on the apron 5 is in a horizontal state with the charging terminal 941 on the charging terminal module 94. The charging port on the drone 96 is located at the rear end of the drone 96. The charging port on the drone 96 has a central axis in the first horizontal direction and a central axis in the first horizontal direction of the end of the charging terminal 941 for inserting the charging port of the drone 96, which is theoretically coaxial.

[0070] When the charging terminal 941 is plugged into the charging port on the drone 96 to charge the drone 96, if the driving source 7 drives the chain transmission mechanism 6 to drive the apron 5 to slide out along the secondary linear slide 3, the plugging force between the charging terminal 941 and the charging port of the drone 96 may cause the drone 96 on the apron 5 to slide backward and leave the apron 5. Therefore, a stop groove 511 is also provided in each rear foot parking area 51 of the apron 5, and each stop groove 511 is coaxial with each rear foot limit groove 510. In this way, when the driving source 7 drives the chain transmission mechanism 6 to drive the apron 5 to slide out along the secondary linear slide 3, the bottom of the rear leg frame 961 of the drone 96 slides into the stop groove 511 along the horizontal first direction, and under the limiting action of the stop groove 511, the drone 96 slides forward along the secondary linear slide 3 with the apron 5.

[0071] In addition, refer to Figure 1 The left and right edges of the rear foot parking area 51 are both fixed with side guard strips 513 , and the side guard strips 513 can prevent the drone 96 from falling off from the left and right sides of the rear foot parking area 51 .

[0072] Reference Fig.11 and Fig.12 The guide part 942 includes a guide body 9421, which is integrally connected to the movable seat 940. The end surface of the guide body 9421 facing away from the sliding seat 91 is set as an inclined guide surface 9422. The two inclined guide surfaces 9422 are in an eight-shaped structure, which is conducive to guiding the battery assembly 963 on the drone 96 to enter between the two guide bodies 9421. Since the movable seat 940 can move elastically in the first horizontal direction and the second horizontal direction, when the two side walls of the battery assembly 963 on the drone 96 in the second horizontal direction are respectively in contact with the two inclined guide surfaces 9422, as the drone 96 continues to move backward along the first direction, the two inclined guide surfaces 9422 can automatically compensate for the deviation between the charging terminal 941 on the movable seat 940 and the charging port of the drone 96 in the second horizontal direction.

[0073] In addition, refer to Fig.11 or Fig.12The facing sides of the two guide bodies 9421 are set as working surfaces, and two fixing bars are arranged on the working surface of the guide body 9421. The fixing bars extend along the first horizontal direction, and the two fixing bars on the guide body 9421 are arranged at intervals in the vertical direction. The spacing between the two fixing bars on the guide body 9421 forms a straight guide groove 9423, and the end of the straight guide groove 9423 facing away from the sliding seat 91 is set as a guide port 9424, and the guide port 9424 is an eight-shaped structure, which is beneficial for the sliding part (not shown) on the battery assembly 963 of the drone 96 to enter the straight guide groove 9423. Of course, the sliding portion on the battery assembly 963 of the drone 96 extends along the first horizontal direction, and the sliding portions on the opposite side walls of the battery assembly 963 of the drone 96 in the second horizontal direction are respectively slidably adapted to the two straight guide grooves 9423. When the sliding portion on the battery assembly 963 of the drone 96 contacts the guide opening 9424, since the movable seat 940 can move elastically in the vertical direction, as the drone 96 continues to move backward along the first direction, the guide opening 9424 can automatically compensate for the vertical deviation between the charging terminal 941 on the movable seat 940 and the charging port of the drone 96.

[0074] Reference Fig.11 The buffer structure includes a first spring 92 and a second spring 93. One end of the first spring 92 is connected and fixed to the mounting seat 95, and the other end of the first spring 92 is connected and fixed to the sliding seat 91. The first spring 92 extends along the horizontal first direction. One end of the second spring 93 is connected and fixed to the mounting seat 95, and the other end of the second spring 93 is connected and fixed to the sliding seat 91. The second spring 93 and the first spring 92 are symmetrical about the central axis of the sliding seat 91 in the horizontal first direction. This buffer structure is conducive to buffering the sliding of the sliding seat 91 in the horizontal first direction.

[0075] Reference Fig.11 The sliding seat 91 is also provided with a proximity switch 910 electrically connected to the power supply module 901. The proximity switch 910 is used to identify whether a drone 96 is charging with the charging terminal 941, which is helpful for real-time understanding of whether a drone 96 is charging.

[0076] Reference Fig.11 - Fig.15, the two side walls of the avoidance groove 951 in the second horizontal direction are set as arcuate wall surfaces 9511, and the two side walls of the movable seat 940 in the second horizontal direction are provided with waist-shaped grooves 9406. Of course, the waist-shaped grooves 9406 extend along the second horizontal direction, and the distance between the upper surface of the movable seat 940 and the cover plate 952 forms a space for the movable seat 940 to move vertically, and the distance between the end surface of the waist-shaped groove 9406 in the second horizontal direction and the arcuate wall surface 9511 forms a space for the movable seat 940 to move along the second horizontal direction. Specifically, it can be understood that one end of the movable seat 940 is placed in the installation groove 950, the height of the upper surface of the movable seat 940 is less than the groove depth of the T-shaped groove, the rear end face of the movable seat 940 in the horizontal first direction is slidably fitted with the rear end face in the installation groove 950, the wall surface of the waist-shaped groove 9406 on the movable seat 940 in the horizontal first direction is slidably fitted with the movable seat 940, and the wall surface of the waist-shaped groove 9406 in the horizontal second direction is reserved with the arc-shaped wall surface 9511, so that the movable seat 940 can move in the vertical and horizontal second directions. The first elastic member connected between the movable seat 940 and the cover plate 952 is mainly used for resetting the movable seat 940 in the vertical direction, and similarly, the second elastic member is mainly used for resetting the movable seat 940 in the horizontal second direction.

[0077] Reference Fig.13 - Fig.15 The first elastic member is a first return spring. Two groups of the first return springs are provided. The two groups of first return springs are symmetrical about the central axis of the movable seat 940 in the first horizontal direction, which is conducive to the vertical movement and return of the movable seat 940. In order to facilitate the installation of the first elastic member, a plurality of first spring mounting holes 9401 are provided on the upper surface of the movable seat 940. The plurality of first spring mounting holes 9401 correspond to the plurality of first return springs one by one. A vertically extending first spring guide column 9402 is provided in the first spring mounting hole 9401. One end of the first return spring is sleeved on the first spring guide column 9402, and the other end abuts against the bottom wall of the cover plate 952. Similarly, the second elastic member is a second return spring, and a second spring mounting hole 9404 is provided on the first connecting wall 9403, and a second spring guide column 9405 coaxial therewith is provided in the second spring mounting hole 9404, and a third spring guide column 9502 is provided on the second connecting wall 9501, and each third spring guide column 9502 is coaxial with each second spring guide column 9405 and corresponds one to one, and one end of each second return spring is sleeved on each third spring guide column 9502, and the other end of each second return spring is sleeved on each second spring guide column 9405, so that the installation of the second elastic member can be facilitated.

[0078] 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 drawer-type drone nest, characterized in that: include: Base; A primary linear guide rail is fixed on the base, the axial direction of the primary linear guide rail is a horizontal first direction, and a horizontal direction perpendicular to the horizontal first direction is set as a horizontal second direction; The secondary linear slide rail is slidably arranged on the primary linear slide rail along the first horizontal direction, and the secondary linear slide rail is provided with centering wings on both outer side walls along the second horizontal direction; A locking member is rotatably disposed on at least one outer side wall of the secondary linear slide rail through a rotating shaft, the locking member is located behind the centering wing, a torsion spring is sleeved on the rotating shaft, the torsion spring is located between the locking member and the secondary linear slide rail, and opposite ends of the torsion spring are respectively connected to the secondary linear slide rail and the locking member; A helipad is slidably arranged on a secondary linear slide rail along a first horizontal direction, the helipad can slide under the centering wing along the first horizontal direction, the upper surface of the helipad includes a front foot parking area for two front tripods of the UAV and two rear foot parking areas for two rear tripods of the UAV, the two rear foot parking areas are symmetrical about the central axis of the helipad in the first horizontal direction, the two rear foot parking areas are both provided with rear foot limiting grooves for engaging with the bottom of the rear tripod of the UAV, and each rear foot parking area is also provided with a centering guide surface for guiding the UAV to return to the center; A chain drive mechanism, the drive is arranged on the base and connected to the apron drive; A driving source is arranged on the base, and is used to drive the chain transmission mechanism to drive the apron to slide along the secondary linear slide rail, and the apron can be blocked by the front end or the rear end of the secondary linear slide rail, so that the secondary linear slide rail can slide out or slide back along the primary linear slide rail; Among them, when the driving source drives the apron to slide along the secondary linear slide rail back to the centering UAV, the locking piece and the limit piece fixed on the base are stopped to prevent the secondary linear slide rail from sliding back along the primary linear slide rail, so that the rear leg of the UAV on the apron is blocked by the centering wing. The rear leg of the UAV enters the rear leg limit groove under the guidance of the centering guide surface to realize the centering of the UAV. At the same time, the apron slides just to the locking piece to drive the locking piece to rotate, unlocking the stop between the limit piece and the locking piece.

2. The drawer-type drone nest according to claim 1 is characterized in that: A positioning groove is provided on the front end surface of the centering wing, and the center axis of the positioning groove in the first horizontal direction is collinear with the center axis of the rear foot limiting groove in the first horizontal direction.

3. The drawer-type drone nest according to claim 1, characterized in that: The chain transmission mechanism includes a transmission shaft, a driving sprocket, a window push-bending anti-bending chain and a chain guide assembly. The transmission shaft is rotatably arranged on the base, and the transmission shaft extends along a horizontal second direction. The driving sprocket is fixed on the transmission shaft, and the driving source is connected to the transmission shaft to drive the transmission shaft to rotate; the chain guide assembly is located on one side of the primary linear slide rail in the horizontal second direction, and the window push-bending anti-bending chain is connected to the driving sprocket; the chain guide assembly is provided with a first chain guide groove that runs through one end of the chain close to the driving sprocket, the first end of the window push-bending anti-bending chain is connected and fixed to the bottom of the apron, and the second end of the window push-bending anti-bending chain is a free end, and the chain core of the free end is slidably clamped by the first chain guide groove, so that the free end of the window push-bending anti-bending chain can slide along the first chain guide groove.

4. The drawer-type drone nest according to claim 3 is characterized in that: The chain guide assembly includes a first chain guide plate and a second chain guide plate, both of which are arranged on a base, and both of which extend along a first horizontal direction and are vertically spaced apart, and the spacing between the first chain guide plate and the second chain guide plate forms the first chain guide groove.

5. The drawer-type drone nest according to claim 4, characterized in that: The chain guide assembly is also provided with a second chain guide groove, which extends along the first horizontal direction, and is located above the first chain guide groove. The end of the second chain guide groove facing away from the driving sprocket is connected to the first chain guide groove, and the part where the end of the second chain guide groove facing away from the driving sprocket is connected to the first chain guide groove is connected in a circular arc transition.

6. The drawer-type drone nest according to claim 5, characterized in that: The chain guide assembly also includes a chain third guide plate, which is arranged on the base and extends along a first horizontal direction. The chain third guide plate and the chain second guide plate are vertically spaced apart, and the distance between the chain third guide plate and the chain second guide plate forms the chain second guide groove.

7. The drawer-type drone nest according to claim 1, characterized in that: A slide groove is provided on the upper surface of the secondary linear slide rail, and the slide groove extends along the axial direction of the secondary linear slide rail. Optical rods extending along the axial direction of the slide groove are arranged on the opposite side walls of the slide groove. A pulley is vertically arranged at the bottom of the apron, and a groove is circumferentially arranged on the circumferential surface of the pulley to be in rolling contact with the optical rod.

8. The drawer-type drone nest according to claim 1, characterized in that: The base is also provided with a charging telescopic module located above the secondary linear slide rail. The process of the secondary linear slide rail sliding and retracting along the primary linear slide rail drives the charging port on the battery assembly of the drone on the apron to plug into the charging telescopic module for charging.

9. The drawer-type drone nest according to claim 8, characterized in that: The charging telescopic module includes a fixed seat, a sliding seat, a buffer structure and a charging terminal module. The fixed seat is connected and fixed to the base. The sliding seat is set on the fixed seat to slide along the axial direction of the primary linear slide rail. One end of the buffer structure is connected to the fixed seat, and the other end is connected to the sliding seat, which is used to buffer the sliding of the sliding seat in the axial direction of the primary linear slide rail. The charging terminal module is electrically connected to the power supply module set on the fixed seat. The charging terminal module is set at the front end of the sliding seat, and is used to plug and charge with the charging port on the battery assembly of the drone.

10. The drawer-type drone nest according to claim 9, characterized in that: A mounting seat is fixed to the front end of the sliding seat, and a T-shaped groove penetrating the front end surface thereof is provided on the upper surface of the mounting seat in a first horizontal direction. The charging terminal module comprises a movable seat and a charging terminal, and the charging terminal is fixed on the movable seat, and the charging terminal passes through the front end surface of the movable seat, and the other end is electrically connected to the power supply module; the T-shaped groove comprises a mounting groove and an avoidance groove, and one end of the movable seat is placed in the mounting groove, and the other end extends from the position of the avoidance groove, so that the movable seat can move in the second vertical and horizontal directions; a cover plate is provided on the upper surface of the mounting seat, and the movable seat is connected to the cover plate There is a first elastic member, and the two side walls of the movable seat in the second horizontal direction are set as first connecting walls, and the two side walls in the installation groove in the second horizontal direction are set as second connecting walls, and a second elastic member is connected between each first connecting wall and each second connecting wall; guide parts are also provided on the opposite sides of the front end of the movable seat, which are used to guide the battery assembly on the drone into between the two guide parts. During the process of the guide part guiding the battery assembly between the two guide parts, the force of the battery assembly acting on the guide part forces the movable seat to automatically compensate for the deviation between the charging terminal and the charging port in the vertical and horizontal second directions.

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