Transportation and automatic loading and unloading platform and system for manned aircraft and working method

Abstract

The invention discloses a transportation and automatic loading and unloading platform and system for a manned aircraft and a working method.The platform comprises a transportation device and an automatic loading and unloading device, and the transportation device is provided with a cockpit, driving wheels and a take-off and landing platform and is used for personnel control and transportation; the automatic assembling and disassembling device achieves automatic assembling and disassembling of the aircraft power component through the mechanical arm, the transmission mechanism and the power component assembling and disassembling platform. The system coordinates the aircraft module, the transportation device module and the automatic loading and unloading device module through the control module, and supports three states of loading, operation and recovery: during loading, a power part is disassembled and fixed charging is carried out; during operation, parts are grabbed through the mechanical arm, the transmission mechanism drives butt joint, and aircraft assembling is completed. And during recovery, reversely operating the disassembly part and charging. The loading and unloading efficiency and safety are remarkably improved, and the method is suitable for rapid deployment and recovery of high-altitude operation scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of manned aircraft auxiliary equipment, and in particular relates to a transportation and automatic loading and unloading platform, system and working method for manned aircraft. Background Art

[0002] With the rapid development of the low-altitude economy, manned aircraft are increasingly being used in various fields. In the field of urban air traffic, manned aircraft are expected to become an important means to alleviate ground traffic congestion and achieve fast and efficient point-to-point travel; in emergency rescue, it can quickly reach remote areas or disaster sites, buying precious time for rescue work; in the tourism industry, manned aircraft can provide tourists with a unique aerial perspective and bring a new travel experience.

[0003] Given the stringent requirements of general manned aircraft for high load capacity, their size is often relatively large. Taking the common multi-rotor manned aircraft as an example, in order to carry passengers and necessary equipment, its fuselage size and rotor diameter are relatively large. When facing this type of manned aircraft, traditional transportation devices and equipment cannot achieve overall transportation at all, and can only disassemble the aircraft modularly or fold it to perform transportation operations. This mode of transportation will undoubtedly bring a significant disadvantage, that is, it takes a lot of time to assemble and prepare various work during operation. For example, in emergency rescue scenarios, every second is crucial, and long assembly preparations may cause the best rescue time to be missed; in the operation of urban air traffic, frequent and long preparations will also affect operational efficiency and service quality, which is far from meeting the needs of those fast operation scenarios that require extremely high response speed.

[0004] In order to effectively overcome the problem of manned aircraft transportation, Chinese patent document CN221272754U proposed an innovative design solution for vehicles and flying cars. The solution uses an advanced electric drive device to achieve automatic separation of the flying car and the transport device. This innovation greatly simplifies the transportation process and successfully eliminates the tedious work links that originally required manual handling. This automatic separation technology is based on precise sensors and intelligent control modules, which can accurately sense the connection status between the aircraft and the transport device, and start the electric drive device at the right time to achieve a smooth and safe separation process.

[0005] Although the above method solves the problem of automatic separation of the aircraft and the transport device to a certain extent, due to the large size of the manned aircraft itself, even if the arms are in a folded state, the operator still needs to get off the vehicle and manually unfold the arms before the aircraft can enter a normal operating state. This process not only increases the workload of the operator, but also makes the preliminary preparation time still long. In practical applications, especially in some commercial operation scenarios or emergency tasks with extremely high timeliness requirements, long preparation time will lead to delays, reduce the efficiency and competitiveness of the use of manned aircraft, and still It is difficult to fully meet the needs of rapid response operation scenarios. Therefore, there is an urgent need for a more efficient and convenient solution to achieve the goal of rapid deployment and operation of manned aircraft. Summary of the invention

[0006] The object of the present invention is to provide a transportation and automatic loading and unloading platform, system and working method for manned aircraft to solve the above-mentioned technical problems.

[0007] In order to achieve the purpose of the present invention, on the one hand, the present invention provides a transportation and automatic loading and unloading platform for a manned aircraft, wherein the aircraft comprises an aircraft body, a power component, and a battery component; the power component is arranged in a three-ducted triangle shape, the power components of the left and right ducts are installed at both ends of the opening of the aircraft body, the battery component is connected to the unopened end of the aircraft body, and the end of the aircraft body connected to the battery component is connected to the power component of the upper duct,

[0008] The transport and automatic loading and unloading platform comprises an automatic loading and unloading device and a transport device, wherein the automatic loading and unloading device is arranged on the transport device;

[0009] The transport device includes a cockpit, driving wheels, and a take-off and landing platform. The cockpit has control buttons and a display screen. The cockpit is used for passengers to sit and control the automatic loading and unloading device. The take-off and landing platform is used to arrange the aircraft and the automatic loading and unloading device.

[0010] The automatic loading and unloading device includes an aircraft body placement seat, a power component placement seat, a power component loading and unloading platform, a mechanical arm, a drive motor, and a transmission mechanism;

[0011] The take-off and landing platform is used to place the aircraft body placement seat, the power component placement seat, the power component loading and unloading platform, the mechanical arm, the drive motor, and the transmission mechanism;

[0012] The aircraft body placement seat is used to place the aircraft body;

[0013] The power component placement seat is used to store the power components of the left and right ducts removed from the aircraft body;

[0014] The power component loading and unloading platform is used to grab the power components and autonomously assemble and lock them with the aircraft body;

[0015] The mechanical arm is used to grab objects and lock screws, and the locking screws are used to lock the power component after docking with the aircraft body;

[0016] The driving motor is used to provide rotational potential energy;

[0017] The transmission mechanism is used to convert the rotational motion of the drive motor into planar motion, and drive the power component loading and unloading platform to move horizontally.

[0018] The mechanical arm is arranged at the front part of the take-off and landing platform, and two transmission mechanisms are symmetrically arranged on the take-off and landing platform corresponding to the lower part of the operating end of the mechanical arm. The two transmission mechanisms are placed in mirror image, and the power component loading and unloading platform is arranged at one end of the two transmission mechanisms; three extension shafts docking with the power components are arranged at the left and right rear positions of the aircraft body, and the power component loading and unloading platform is arranged at the extension shaft positions on the left and right sides of the aircraft body; the output shaft of the drive motor is meshed with the gear at the other end of the transmission mechanism; the aircraft body mounting seat is mounted above the drive motor and close to the mounting end of the mechanical arm, and the power component mounting seat is arranged at the rear of the other end of the transmission mechanism.

[0019] The bottom of the battery component is provided with a female charging interface, and the corresponding position of the bottom of the aircraft body placement seat is provided with a male charging interface;

[0020] The mechanical arm is provided with a visual sensor for locating the position of the power component and grasping it at a preset position;

[0021] The take-off and landing platform is provided with a sensor for real-time monitoring of the platform position.

[0022] The output shaft of the driving motor is provided with a first bevel gear; the transmission mechanism comprises a second bevel gear, a transmission screw and a guide rod, the second bevel gear is fixedly connected to the transmission screw, the transmission screw is embedded in the bottom ball sleeve of the power component loading and unloading platform, and the guide rod is arranged on both sides of the transmission screw and sleeved in the guide sleeve of the power component loading and unloading platform;

[0023] The first bevel gear meshes with two mirror-image second bevel gears.

[0024] A locking mechanism is provided at the contact position between the aircraft body mounting seat and the aircraft body, and the mechanical arm has multiple degrees of freedom.

[0025] A flexible part is provided at the contact position between the aircraft body placement seat and the aircraft body, so as to realize a small amount of movable space when the aircraft body and the power component are docked.

[0026] On the other hand, the present invention also provides a system for transporting and automatically loading and unloading a manned aircraft, comprising an aircraft module, an automatic loading and unloading device module, a transport device module, and a control module;

[0027] The aircraft module is used to carry a single operator to perform high-altitude operations;

[0028] The automatic loading and unloading device module is used for automatically loading and unloading the manned aircraft module;

[0029] The transport device module is used to transport the automatic loading and unloading device module;

[0030] The control module is used to control the operation of various components. It is a circuit hardware module integrated in the transportation device module. There is a start button in the passenger compartment of the transportation device module. After pressing the start button, the automatic loading and unloading device module starts to operate and assemble the manned aircraft module.

[0031] The aircraft module includes an aircraft body, a power component, and a battery component;

[0032] The automatic loading and unloading device module includes an aircraft body placement seat, a power component placement seat, a power component loading and unloading platform, a mechanical arm, a drive motor, and a transmission mechanism;

[0033] The transport device module includes a transport device;

[0034] In the initial state, the aircraft module and the automatic loading and unloading device module are both arranged on the take-off and landing platform, the battery component is fixedly connected to the aircraft body, the aircraft body is arranged on the aircraft body placement seat, and the power component is arranged on the power component placement seat; after the operator drives the transportation device to the work site, the operation procedure is started, the servo motor drives the transmission mechanism to operate, and drives the power component loading and unloading platform to move away from the aircraft body to the loading and unloading waiting area, and then triggers the start button, the control module outputs the power and control signal required for the operation of the automatic loading and unloading device module, and the mechanical arm starts to operate. The mechanical arm locates the position of the power component through the visual sensor arranged on the arm, grabs it at a preset position, grabs the power component and places it on the power component loading and unloading platform according to the set position, drives the transmission mechanism to operate in the reverse direction, and drives the power component loading and unloading platform to move toward the aircraft body until the power component and the aircraft body are docked; the aircraft module assembly is completed and the take-off operation begins;

[0035] The drive motor rotates in the reverse direction, and the rotor inside it reverses at a high speed under the action of electromagnetic induction, and transmits the rotational power to the transmission screw through the bevel gear connected thereto, so that the transmission screw starts to rotate; the transmission screw is connected to the power component loading and unloading platform through a ball sleeve, and under the rotation of the screw, the ball sleeve drives the power component loading and unloading platform to move along the predetermined track principle body; during the movement, the sensor installed on the take-off and landing platform monitors the platform position in real time, and when it reaches the preset designated position, the sensor sends a signal to the control module, and the drive motor stops running;

[0036] After the battery component is connected to the aircraft body, it is placed on the aircraft body mounting seat, and the battery component is connected to the power supply line in the aircraft body; a charging interface female end is designed at the bottom of the battery component, and a charging interface male end is designed at the corresponding position of the bottom of the aircraft body mounting seat. When the aircraft body is placed on the aircraft body mounting seat, the charging interface female end and the male end are connected, and the battery component is charged and replenished by the vehicle power supply.

[0037] The present invention also provides a working method of a system for transporting and automatically loading and unloading a manned aircraft, including a loading method, an operation method, and a recovery method:

[0038] The loading method is as follows: firstly, the power components are disassembled and fixed, and then the aircraft and the battery are fixed and charged to complete the loading of the aircraft;

[0039] The operation working method includes: first starting the operation, moving the power component loading and unloading platform, and the mechanical arm grabbing and arranging the power component, completing the docking of the power component with the aircraft body; starting the mechanical arm again, fastening the power component with the aircraft body, and then the mechanical arm clicks the start button on the aircraft body, and the aircraft enters a low-altitude suspension state; the operator boards the aircraft and starts the lift operation;

[0040] The recovery working method is as follows: the operator controls the aircraft to fly to the vicinity of the transportation device according to the predetermined route, slowly descends to the ground through the safety rope, presses the marked recovery button, starts the movement of the power component loading and unloading platform, and the aircraft starts landing and component installation under the remote control of the operator, and finally the aircraft is powered off; the robotic arm replaces the end tool to remove the locking screw, causing the power component to detach, and grabs each power component, and places the power component in the power component placement seat in turn according to the layout of the power component placement seat, and then the joints of the robotic arm contract and rotate in turn, and are recovered to the initial position, the drive motor is turned on, and the power component loading and unloading platform is driven to be recovered to the initial position along the track, and then the battery charging function is started; after the aircraft recovery is completed, the operator checks the status of the vehicle and the aircraft, and after confirming that there is no error, drives the vehicle into the next operation scene.

[0041] Compared with the prior art, the significant progress of the present invention lies in that the loading and unloading device and process of the present invention are highly automated, relying on the precise grabbing and placement actions of the robotic arm and the stable power transmission of the drive unit, without the need for a lot of manual intervention. This not only saves manpower, but also greatly shortens the preparation and finishing time of the operation, greatly improving the operating efficiency of the manned aircraft. At the same time, due to its convenience and efficiency, it has successfully expanded the application possibilities of manned aircraft in more complex scenarios such as emergency rescue, material transportation in remote areas, and high-altitude surveying and mapping.

[0042] In order to more clearly illustrate the functional characteristics and structural parameters of the present invention, further description is given below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0044] Figure 1 is a general diagram of a vehicle and a transport and loading and unloading platform according to an embodiment of the present invention;

[0045] Figure 2 is a diagram of the aircraft loading state of an embodiment of the present invention;

[0046] Figure 3 is a three-dimensional structural diagram of the driving device of the present invention;

[0047] Figure 4 is the aircraft loading state of an embodiment of the present invention;

[0048] Figure 5 It is a complete state structure diagram of the aircraft of the present invention.

[0049] The reference numerals in the figure are: transport device-1, mechanical arm-2, aircraft body mounting seat-3, drive motor-4, power component loading and unloading platform-5, power component mounting seat-6, take-off and landing platform-7, battery component-8, aircraft body-9, transmission screw-10, guide rod-11, first bevel gear-12, second bevel gear-13. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0051] The present invention is a transportation and automatic loading and unloading platform for manned aircraft, combined with Figure 5 The manned aircraft comprises an aircraft body 9, a power component, and a battery component 8; the power component is arranged in a three-ducted triangle shape, the power components of the left and right ducts are installed at both ends of the opening of the aircraft body 9, the battery component 8 is connected to the unopened end of the aircraft body 9, and the end of the aircraft body 9 connected to the battery component 8 is connected to the power component of the upper duct,

[0052] Combination Figure 1 and Figure 2 , the transport and automatic loading and unloading platform comprises an automatic loading and unloading device and a transport device 1, the automatic loading and unloading device is arranged on the transport device 1;

[0053] The transport device 1 includes a cockpit, driving wheels, and a take-off and landing platform. The cockpit has control buttons and a display screen. The cockpit is used for passengers to sit and control the automatic loading and unloading device; the take-off and landing platform is used to arrange the manned aircraft and the automatic loading and unloading device.

[0054] The transport device 1 may be a vehicle, a ship, an open pickup truck, a flatbed truck, a freight ship, etc. In this embodiment, a vehicle is used;

[0055] The automatic loading and unloading device includes a take-off and landing platform 7, an aircraft body placement seat 3, a power component placement seat 6, a power component loading and unloading platform 5, a mechanical arm 2, a drive motor 4, and a transmission mechanism;

[0056] The take-off and landing platform 7 is used to place the aircraft body placement seat 3, the power component placement seat 6, the power component loading and unloading platform 5, the mechanical arm 2, the drive motor 4, and the transmission mechanism;

[0057] The aircraft body placement seat 3 is used to place the aircraft body 9;

[0058] The power component placement seat 6 is used to store the power components of the left and right ducts removed from the aircraft body 9. Figure 2 ;

[0059] The power component loading and unloading platform 5 is used to grab the power components and autonomously assemble and lock them with the aircraft body 9;

[0060] The mechanical arm 2 is used to grab objects and lock screws, and the locking screws are used to lock the power component after docking with the aircraft body 9;

[0061] The driving motor 4 is used to provide rotational potential energy;

[0062] The transmission mechanism is used to convert the rotational motion of the driving motor 4 into a planar motion, and drive the power component loading and unloading platform 5 to move horizontally.

[0063] The robotic arm 2 is arranged at the front of the take-off and landing platform 7, and two transmission mechanisms are symmetrically arranged on the take-off and landing platform 7 corresponding to the lower side of the operating end of the robotic arm 2. The two transmission mechanisms are placed in a mirror-like manner, and one end of the two transmission mechanisms is provided with the power component loading and unloading platform 5; the aircraft body 9 is provided with extension shafts docking with the power components at three positions on the left and right rear sides, and the power component loading and unloading platform 5 is arranged at the extension shaft positions on the left and right sides of the aircraft body 9; the output shaft of the drive motor 4 is meshed with the gear at the other end of the transmission mechanism; the aircraft body mounting seat 3 is erected above the drive motor 4 and close to the mounting end of the robotic arm 2, and the power component mounting seat 6 is placed behind the other end of the transmission mechanism.

[0064] Combination Figure 3 The power component loading and unloading platform 5, the driving motor 4, and the transmission mechanism constitute a driving device.

[0065] A first bevel gear 12 is provided on the output shaft of the driving motor 4; the transmission mechanism includes a second bevel gear 13, a transmission screw 10, and a guide rod 11, the second bevel gear 13 is fixedly connected to the transmission screw 10, the transmission screw 10 is embedded in the bottom ball sleeve of the power component loading and unloading platform 5, and the guide rod 11 is arranged on both sides of the transmission screw 10 and sleeved in the guide sleeve of the power component loading and unloading platform 5; the first bevel gear 12 is meshed with two mirrored second bevel gears 13; the transmission mechanism is a set of bevel gears with ball screws, which rotates under the drive of the motor, and the ball screw can convert rotational motion into linear motion.

[0066] The bottom of the battery component 8 is provided with a female charging interface, and the corresponding position of the bottom of the aircraft body placement seat 3 is provided with a male charging interface;

[0067] The mechanical arm 2 is provided with a visual sensor for locating the position of the power component and grasping it at a preset position;

[0068] The lifting and lowering platform 7 is provided with a sensor for real-time monitoring of the platform position.

[0069] A locking mechanism is provided at the contact position between the aircraft body mounting seat 3 and the aircraft body 9, which can limit the large amount of movement of the aircraft body 9 when docking with the power component to prevent it from tipping over. The mechanical arm 2 has multiple degrees of freedom.

[0070] A flexible member, such as silicone, is provided at the contact position between the aircraft body mounting seat 3 and the aircraft body 9 to achieve a small amount of movable space when the aircraft body 9 is docked with the power component.

[0071] The present invention also includes a system for a transportation and automatic loading and unloading platform for a manned aircraft, comprising an aircraft module, an automatic loading and unloading device module, a transportation device module, and a control module;

[0072] The aircraft module is used to carry a single operator to perform high-altitude operations, such as fire rescue, power maintenance, high-rise glass cleaning, etc.

[0073] The automatic loading and unloading device module is used for automatically loading and unloading the manned aircraft module;

[0074] The transport device module is used to transport the automatic loading and unloading device module;

[0075] The control module is used to control the operation of various components. It is a circuit hardware module integrated in the transportation device module. There is a start button in the passenger compartment of the transportation device module. After pressing the start button, the automatic loading and unloading device module starts to operate and assemble the manned aircraft module.

[0076] The aircraft module includes an aircraft body 9, a power component, and a battery component 8;

[0077] The automatic loading and unloading device module includes a take-off and landing platform 7, an aircraft body placement seat 3, a power component placement seat 6, a power component loading and unloading platform 5, a mechanical arm 2, a drive motor 4, and a transmission mechanism;

[0078] The transport device module comprises a transport device 1;

[0079] In the initial state, the aircraft module and the automatic loading and unloading device module are both arranged on the take-off and landing platform, the battery component 8 is fixedly connected to the aircraft body 9, the aircraft body 9 is arranged on the aircraft body placement seat 3, and the power component is arranged on the power component placement seat 6; after the operator drives the transport device 1 to the work site, the operation procedure is started, the servo motor drives the transmission mechanism to operate, and the power component is placed on the power component placement seat 6; Figure 4, driving the power component loading and unloading platform 5 away from the aircraft body 9 to the loading and unloading waiting area, and then triggering the start button, the control module outputs the power and control signal required for the operation of the automatic loading and unloading device module, and the mechanical arm 2 starts to operate. The mechanical arm 2 locates the position of the power component through the visual sensor arranged on the arm, grabs it at the preset position, grabs the power component and places it on the power component loading and unloading platform 5 according to the set position, drives the transmission mechanism to operate in the reverse direction, and drives the power component loading and unloading platform 5 to move toward the aircraft body 9 until the power component and the aircraft body 9 are docked; the aircraft module assembly is completed and the take-off operation begins;

[0080] The drive motor 4 rotates in the reverse direction, and the rotor inside it reverses at a high speed under the action of electromagnetic induction, and transmits the rotational power to the transmission screw 10 through the bevel gear connected thereto, so that the transmission screw 10 starts to rotate; the transmission screw 10 is connected to the power component loading and unloading platform 5 through the ball sleeve, and under the rotation of the screw, the ball sleeve drives the power component loading and unloading platform 5 to move along the predetermined track principle body; during the movement, the sensor installed on the lifting and lowering platform 7 monitors the platform position in real time, and when it reaches the preset designated position, the sensor sends a signal to the control module, and the drive motor 4 stops running;

[0081] After the battery component 8 is connected to the aircraft body 9, it is placed on the aircraft body mounting seat 3, and the battery component 8 is connected to the power supply line in the aircraft body 9; a charging interface female end is designed at the bottom of the battery component 8, and a charging interface male end is designed at the corresponding position at the bottom of the aircraft body mounting seat 3. When the aircraft body 9 is placed on the body mounting seat, the charging interface female end and the male end are connected, and the battery component 8 is charged and replenished by the vehicle power supply.

[0082] The present invention also includes a working method of a system for transporting and automatically loading and unloading a manned aircraft, wherein the left and right ducts of the aircraft need to be disassembled during transportation, and the method includes a loading state, an operating state, and a recovery state:

[0083] The loading status includes:

[0084] Disassembly and fixation of power components: Operators and other staff members must strictly follow the operating specifications and use professional tools to carefully remove the power components of the aircraft from the aircraft; during the disassembly process, carefully check whether the appearance of the power components is damaged, and then record the relevant data; after the disassembly is completed, the design structure of the power component placement seat 6 is accurately fixed in the power component placement seat 6 of the transport device 1, and fastening bolts, locks and other devices are used to ensure that it is firmly fixed to prevent displacement during transportation; in view of the size of the transport platform of the transport device 1 and the layout characteristics of the aircraft, some power components can be exempted from disassembly after being fully evaluated by professional technicians and confirmed that they will not hinder transportation and meet safety standards; a detailed report of the evaluation process must be formed and filed;

[0085] Aircraft and battery fixing and charging docking: At the same time, the operator uses a special fixing fixture to firmly fix the aircraft together with the battery on the aircraft on the body mounting seat; when fixing, ensure that the aircraft is in a horizontal state to avoid deviations in subsequent operations due to tilting; then, carefully check the battery terminals of the aircraft and the charging terminals on the take-off and landing platform to ensure that the two are automatically docked, turn on the charging detection system, and put the battery in a state of power detection and charging; during the charging process, pay attention to the battery power changes, charging current and voltage and other parameters, and promptly check and handle any abnormalities; the aircraft is loaded;

[0086] The job status includes:

[0087] Start the operation: After the operator drives the vehicle to the operation area according to the predetermined route, he presses the start operation button on the operation panel inside the vehicle. The system receives the command and the assembly task starts immediately. At the same time, the warning lights inside and outside the vehicle light up to remind the surrounding personnel to pay attention to safety;

[0088] The power component loading and unloading platform 5 moves: the driving motor 4 starts to run in the reverse direction, and the rotor inside the motor reverses at a high speed under the action of electromagnetic induction, and transmits the rotational power to the transmission screw 10 through the bevel gear connected thereto, so that the transmission screw 10 starts to rotate; the transmission screw 10 is connected to the power component loading and unloading platform 5 through a ball sleeve, and under the rotation of the screw, the ball sleeve drives the power component loading and unloading platform 5 to move along the predetermined track principle body; during the movement process, the sensor installed on the platform monitors the platform position in real time, and when it reaches the preset designated position, the sensor sends a signal to the control module, and the driving motor 4 stops running;

[0089] Grasping and placing power components: The robot arm 2 is started under the precise command of the control module, and the joints of the robot arm 2 are extended and rotated in turn, and the end effector is accurately moved above the power components; the position and posture of the power components are confirmed by the visual sensor, and then the power components are grasped to the corresponding power component loading and unloading platform 5 by grasping devices such as vacuum suction cups or mechanical grippers; during the grasping and placing process, the robot arm 2 strictly follows the preset path to avoid collision with surrounding objects; until each power component is arranged in its fixed position, the visual sensor is used again to check whether the placement position of the power component is accurate;

[0090] The power component is docked with the machine body: the driving motor 4 starts to run in the forward direction and repeats the above transmission process. The transmission screw 10 drives the power component loading and unloading platform 5 to move into the machine body through the ball screw. During the docking process, the guide device installed at the docking position of the power component and the machine body plays a role to guide the power component to be accurately inserted into the machine body interface. At the same time, the sensor monitors the docking force and position in real time. When the docking is in place, the sensor sends a signal to the control module, and the driving motor 4 stops running.

[0091] Tightening and starting: The robot arm 2 is started again, and the electric screwdriver or wrench at the end of the robot arm 2 is used to tighten the fastening screws at the docking position of each component; the screws are tightened one by one according to the specified torque value to ensure that the power components and the body are firmly assembled; after the tightening is completed, the robot arm 2 clicks the start button on the aircraft body 9 through the programmed action; at this time, the start system of the aircraft self-checks, and various indicator lights flash. After confirmation, the aircraft starts to fly and enters a low-altitude hovering state;

[0092] Operators take off for operations: After getting off the vehicle, operators put on the safety protection equipment that comes with the aircraft, including helmets and seat belts, in the designated area; carefully check the integrity and reliability of the equipment, and after confirming that they are correct, walk to the aircraft, board the aircraft according to the operating instructions, fasten the seat belt, check the various parameters of the aircraft again, and after confirming that they are normal, operate the aircraft control device to start the take-off operation;

[0093] The recycling status

[0094] Return of the operator: After completing the operation, the operator controls the aircraft to fly to the vicinity of the transport device 1 according to the predetermined route and adjusts the aircraft to a hovering state. When safety is ensured, the operator unfastens the safety belt, frees himself from the aircraft, and slowly descends to the ground using the safety rope;

[0095] Recovery operation starts: The operator walks to the vehicle, finds and presses the clearly marked recovery button on the vehicle operation panel, and the system receives the command and starts the aircraft recovery operation. At this time, the warning lights around the vehicle light up again, reminding people around to avoid it;

[0096] The power component loading and unloading platform 5 moves: the driving motor 4 runs, repeats the previous transmission process, and drives the power component loading and unloading platform 5 to move to the set position; during the movement, the sensor monitors the platform position in real time to ensure that the platform reaches the designated location accurately;

[0097] Aircraft landing and component installation: Under the remote control of the operator, the aircraft flies back to the vehicle and lands on the body mounting seat; during the landing process, the positioning device on the body mounting seat guides the aircraft to accurately position; each power component is correspondingly mounted on the power component loading and unloading platform 5, and is initially fixed by mechanical structure or magnetic adsorption;

[0098] Aircraft power off: Robot arm 2 starts, and under the command of the control module, the operating device at the end of robot arm 2 clicks the switch on the aircraft to complete the power off operation of the aircraft; at this time, all power systems of the aircraft are shut down and the indicator light goes out;

[0099] Remove the locking screws: Replace the end tool of robot arm 2 and use an electric screwdriver or wrench to remove the locking screws between each power component and the fuselage. During the removal process, remove them one by one in the prescribed order to avoid component damage or accidents due to improper order.

[0100] Power component separation: the driving motor 4 is running, driving the power component loading and unloading platform 5 to move away from the aircraft body; during the movement, ensure that the power component is separated from the aircraft body smoothly to avoid collision; until the power component is completely separated from the aircraft body;

[0101] Power component placement: The robot arm 2 grabs each power component and places the power component in the power component placement seat 6 in sequence according to the layout of the power component placement seat 6; when placing, ensure that the power components are neatly arranged and firmly fixed;

[0102] Recycling of robot arm 2: After robot arm 2 completes the placement of the power components, under the command of the control module, the joints of robot arm 2 shrink and rotate in sequence and recycle to the initial position; during the recycling process, avoid collision between robot arm 2 and surrounding objects;

[0103] Recycling of the power component loading and unloading platform 5: The driving motor 4 runs to drive the power component loading and unloading platform 5 to be recycled to the initial position along the track; during the recycling process, the sensor monitors the position of the platform in real time to ensure that the platform is accurately returned to its original position;

[0104] Battery charging: The battery charging function is activated, and the charging system on the take-off and landing platform automatically identifies the battery model and status, and adjusts the charging parameters to keep the battery in a recharge state; during the charging process, pay close attention to the battery's temperature, voltage and other parameters to ensure charging safety;

[0105] Go to the next scene: After the aircraft is recovered, the operator checks the status of the vehicle and the aircraft. After confirming that everything is correct, the operator drives the vehicle to the next operation scene.

[0106] The sensors integrated on the take-off and landing platform 7 include position sensors, arrival detection sensors, high-definition cameras, etc., and the relevant data collected by them are transmitted to the control module through CAN, GPIO, LVDS communication and other methods.

[0107] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0108] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transportation and automatic loading and unloading platform for manned aircraft, the aircraft comprising an aircraft body, a power component, and a battery component; the power component is arranged in a three-ducted triangle shape, the power components of the left and right ducts are installed at both ends of the opening of the aircraft body, the battery component is connected to the unopened end of the aircraft body, and the end of the aircraft body connected to the battery component is connected to the power component of the upper duct, characterized in that: The transport and automatic loading and unloading platform comprises an automatic loading and unloading device and a transport device, wherein the automatic loading and unloading device is arranged on the transport device; The transport device includes a cockpit, driving wheels, and a take-off and landing platform. The cockpit has control buttons and a display screen. The cockpit is used for passengers to sit and control the automatic loading and unloading device. The take-off and landing platform is used to arrange the aircraft and the automatic loading and unloading device. The automatic loading and unloading device includes an aircraft body placement seat, a power component placement seat, a power component loading and unloading platform, a mechanical arm, a drive motor, and a transmission mechanism; The take-off and landing platform is used to place the aircraft body placement seat, the power component placement seat, the power component loading and unloading platform, the mechanical arm, the drive motor, and the transmission mechanism; The aircraft body placement seat is used to place the aircraft body; The power component placement seat is used to store the power components of the left and right ducts removed from the aircraft body; The power component loading and unloading platform is used to grab the power components and autonomously assemble and lock them with the aircraft body; The mechanical arm is used to grab objects and lock screws, and the locking screws are used to lock the power component and the aircraft body after docking; The driving motor is used to provide rotational potential energy; The transmission mechanism is used to convert the rotational motion of the drive motor into planar motion, and drive the power component loading and unloading platform to move horizontally.

2. A transportation and automatic loading and unloading platform for manned aircraft according to claim 1, characterized in that: The mechanical arm is arranged at the front part of the take-off and landing platform, and two transmission mechanisms are symmetrically arranged on the take-off and landing platform corresponding to the lower part of the operating end of the mechanical arm. The two transmission mechanisms are placed in mirror image, and the power component loading and unloading platform is arranged at one end of the two transmission mechanisms; three extension shafts docking with the power components are arranged at the left and right rear positions of the aircraft body, and the power component loading and unloading platform is arranged at the extension shaft positions on the left and right sides of the aircraft body; the output shaft of the drive motor is meshed with the gear at the other end of the transmission mechanism; the aircraft body mounting seat is mounted above the drive motor and close to the mounting end of the mechanical arm, and the power component mounting seat is arranged at the rear of the other end of the transmission mechanism.

3. A transportation and automatic loading and unloading platform for manned aircraft according to claim 1, characterized in that: The bottom of the battery component is provided with a female charging interface, and the corresponding position of the bottom of the aircraft body placement seat is provided with a male charging interface; The mechanical arm is provided with a visual sensor for locating the position of the power component and grasping it at a preset position; The take-off and landing platform is provided with a sensor for real-time monitoring of the platform position.

4. A transportation and automatic loading and unloading platform for manned aircraft according to claim 1, characterized in that: The output shaft of the driving motor is provided with a first bevel gear; the transmission mechanism comprises a second bevel gear, a transmission screw and a guide rod, the second bevel gear is fixedly connected to the transmission screw, the transmission screw is embedded in the bottom ball sleeve of the power component loading and unloading platform, and the guide rod is arranged on both sides of the transmission screw and sleeved in the guide sleeve of the power component loading and unloading platform; The first bevel gear meshes with two mirror-image second bevel gears.

5. The transportation and automatic loading and unloading platform for manned aircraft according to claim 1, characterized in that: A locking mechanism is provided at the contact position between the aircraft body mounting seat and the aircraft body, and the mechanical arm has multiple degrees of freedom.

6. The transportation and automatic loading and unloading platform for manned aircraft according to claim 1, characterized in that: A flexible part is provided at the contact position between the aircraft body placement seat and the aircraft body, so as to realize a small amount of movable space when the aircraft body and the power component are docked.

7. A system for transporting and automatically loading and unloading a manned aircraft according to any one of claims 1 to 6, characterized in that: It includes an aircraft module, an automatic loading and unloading device module, a transport device module, and a control module; The aircraft module is used to carry a single operator to perform high-altitude operations; The automatic loading and unloading device module is used for automatically loading and unloading the manned aircraft module; The transport device module is used to transport the automatic loading and unloading device module; The control module is used to control the operation of various components. It is a circuit hardware module integrated in the transportation device module. There is a start button in the passenger compartment of the transportation device module. After pressing the start button, the automatic loading and unloading device module starts to operate and assemble the manned aircraft module.

8. A system for transporting and automatically loading and unloading a manned aircraft according to claim 7, characterized in that: The aircraft module includes an aircraft body, a power component, and a battery component; The automatic loading and unloading device module includes an aircraft body placement seat, a power component placement seat, a power component loading and unloading platform, a mechanical arm, a drive motor, and a transmission mechanism; The transport device module includes a transport device; In the initial state, the aircraft module and the automatic loading and unloading device module are both arranged on the take-off and landing platform, the battery component is fixedly connected to the aircraft body, the aircraft body is arranged on the aircraft body mounting seat, and the power component is arranged on the power component mounting seat; after the operator drives the transportation device to arrive at the work site, the operation procedure is started, the servo motor drives the transmission mechanism to operate, and drives the power component loading and unloading platform to move away from the aircraft body to the loading and unloading waiting area, and then triggers the start button, the control module outputs the power and control signal required for the operation of the automatic loading and unloading device module, the mechanical arm starts to operate, and the mechanical arm locates the position of the power component through the visual sensor arranged on the arm, grabs it at a preset position, grabs the power component and places it on the power component loading and unloading platform according to the set position, drives the transmission mechanism to operate in the reverse direction, and drives the power component loading and unloading platform to move toward the aircraft body until the power component and the aircraft body are docked; the aircraft module is assembled and the take-off operation begins.

9. A system for transporting and automatically loading and unloading a manned aircraft according to claim 8, characterized in that: The drive motor rotates in the reverse direction, and the rotor inside it reverses at a high speed under the action of electromagnetic induction, and transmits the rotational power to the transmission screw through the bevel gear connected thereto, so that the transmission screw starts to rotate; the transmission screw is connected to the power component loading and unloading platform through a ball sleeve, and under the rotation of the screw, the ball sleeve drives the power component loading and unloading platform to move along the predetermined track principle body; during the movement, the sensor installed on the take-off and landing platform monitors the platform position in real time, and when it reaches the preset designated position, the sensor sends a signal to the control module, and the drive motor stops running; After the battery component is connected to the aircraft body, it is placed on the aircraft body mounting seat, and the battery component is connected to the power supply line in the aircraft body; a charging interface female end is designed at the bottom of the battery component, and a charging interface male end is designed at the corresponding position of the bottom of the aircraft body mounting seat. When the aircraft body is placed on the aircraft body mounting seat, the charging interface female end and the male end are connected, and the battery component is charged and replenished by the vehicle power supply.

10. A method for operating a system for transporting and automatically loading and unloading a manned aircraft according to any one of claims 7 to 9, characterized in that: Including loading work methods, operation work methods, and recycling work methods: The loading method is as follows: firstly, the power components are disassembled and fixed, and then the aircraft and the battery are fixed and charged to complete the loading of the aircraft; The operation working method includes: first starting the operation, moving the power component loading and unloading platform, and the mechanical arm grabbing and arranging the power component, completing the docking of the power component with the aircraft body; starting the mechanical arm again, fastening the power component with the aircraft body, and then the mechanical arm clicks the start button on the aircraft body, and the aircraft enters a low-altitude suspension state; the operator boards the aircraft and starts the lift operation; The recovery working method is as follows: the operator controls the aircraft to fly to the vicinity of the transport device according to the predetermined route, slowly descends to the ground through the safety rope, presses the marked recovery button, starts the movement of the power component loading and unloading platform, and the aircraft starts the landing and component installation under the remote control of the operator, and finally the aircraft is powered off; the mechanical arm replaces the end tool to remove the locking screw, so that the power component is detached, and grabs each power component, and places the power component in the power component placement seat in turn according to the layout of the power component placement seat, and then the joints of the mechanical arm are contracted and rotated in turn, recovered to the initial position, the drive motor is operated, and the power component loading and unloading platform is driven to be recovered to the initial position along the track, and then the battery charging function is started; After the aircraft is recovered, the operator checks the status of the vehicle and the aircraft. After confirming that everything is correct, he drives the vehicle to the next operation scene.

Images