Unmanned aerial vehicle automatic cable charging parking apron

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle automatic cable airplane charging parking apron which comprises a parking apron body and a cable airplane mechanism arranged on the parking apron body, and the cable airplane mechanism comprises two first cable airplane rods arranged in parallel in the first direction and two second cable airplane rods arranged in parallel in the second direction; the second direction is perpendicular to the first direction; charging assemblies are arranged on the two first cable machine rods, and first elastic cable machine strip assemblies used for protecting the charging assemblies from generating lateral scraping with a foot stand of the unmanned aerial vehicle are arranged on the opposite side faces of the two first cable machine rods. According to the invention, the charging assembly is protected by adding the first elastic cable airplane strip assembly, so that lateral scraping between the tripod of the unmanned aerial vehicle and the charging assembly can be avoided, and the use stability and durability are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and particularly relates to an automatic cable-receiving charging apron for unmanned aerial vehicles. Background Art

[0002] Common existing hangar aprons include ordinary aprons. After the unmanned aerial vehicle lands, it cannot be automatically cable-received to the center of the apron, let alone automatically charged. There is an apron with two pairs of cable-receiving rods moving independently. First, the front and rear rods cable-receive the unmanned aerial vehicle to the middle position in the front and rear directions, and then the left and right rods perform the cable-receiving action, finally cable-receiving the unmanned aerial vehicle to the middle position of the apron.

[0003] Common forms of unmanned aerial vehicle charging are: (1) a contact charging scheme with a spring contact connector, where the spring contact connector is set on the left and right rods. When the left and right rods cable-receive and clamp, the spring contacts are connected to the interfaces on the unmanned aerial vehicle, realizing automatic cable-receiving charging of the unmanned aerial vehicle; (2) an under-mounted spring ejector pin scheme, where the spring ejector pins are set at the bottom of the cable-receiving rods, and upward-facing copper sheets are set on the landing gear of the unmanned aerial vehicle. When cable-receiving, the spring ejector pins at the bottom of the cable-receiving rods contact the copper sheets on the landing gear, and the circuit is connected to start charging.

[0004] Common schemes for detecting the presence of the unmanned aerial vehicle are: (1) after the unmanned aerial vehicle is cable-received, attempt to perform a charging operation on the unmanned aerial vehicle. If there is an effective charging current and charging voltage, it can be determined that the unmanned aerial vehicle is on the apron; (2) after the unmanned aerial vehicle is cable-received, attempt to power on the unmanned aerial vehicle and monitor whether the unmanned aerial vehicle is connected to the remote controller through the remote control system.

[0005] In the actual use process, there are various problems in the above-mentioned cable-receiving, charging, presence detection, etc. For the apron with two pairs of cable-receiving rods moving independently and performing step-by-step cable-receiving, the expansion of the cable-receiving rods before the unmanned aerial vehicle takes off and the cable-receiving of the cable-receiving rods after landing cannot be linked. After the front and rear cable-receiving is completed, the left and right direction cable-receiving needs to be carried out, and the working efficiency is relatively low. At the same time, the structure of the two pairs of cable-receiving rods moving independently is complex, requiring more components, increasing the risk of failure, and the stocking, maintenance, and repair are also relatively troublesome.

[0006] When the unmanned aerial vehicle is charging, the effective working stroke of the spring contact connector is relatively short, and the position control accuracy of the cable-receiving rod is required to be relatively high. It is prone to detachment due to equipment vibration or thermal expansion and contraction affected by the weather, and there is a risk of poor contact. Moreover, due to the lateral scraping between the copper sheet on the landing gear of the unmanned aerial vehicle and the spring contact connector, the wear of the spring contacts will be accelerated, shortening the service life of the equipment. The effective working stroke of the under-mounted spring ejector pin charging scheme is also relatively short. Deformation of the cable-receiving rod or apron, or too large assembly clearance may cause poor contact between the spring ejector pin and the copper sheet. At the same time, there is also lateral scraping between the spring ejector pin and the copper sheet on the landing gear, and there is a risk of damaging the ejector pins, etc.

[0007] In-situ detection by means of an effective charging current and charging voltage requires the UAV to be in a charging state in order to determine whether the UAV is on the helipad. If it is necessary to continuously monitor whether the UAV is on the helipad, the UAV needs to be kept in a charging or powered-on state all the time, which is not conducive to the cooling and maintenance of the UAV equipment, will shorten the service life of the UAV, and is also not conducive to saving electric energy. In-situ detection by monitoring whether the UAV is connected to the remote controller through the remote control system requires the UAV and the corresponding remote control system to be in a powered-on state all the time to continuously monitor whether the UAV is on the helipad, which is not conducive to the cooling and maintenance of the UAV equipment, will shorten the service life of the UAV, and is also not conducive to saving electric energy. For a UAV in a powered-off state, it needs to be powered on before monitoring can be carried out, and the power-on process takes time, which is not conducive to quickly carrying out in-situ monitoring of the UAV. Summary of the Invention

[0008] The purpose of the present invention is to provide an automatic cable-grabbing charging helipad for UAVs, which can protect the charging components from lateral forces, avoid lateral scraping with the UAV landing gear, and improve the stability and durability of use.

[0009] To achieve the above purpose, the technical solution of the present invention is an automatic cable-grabbing charging helipad for UAVs, including a helipad body and a cable-grabbing mechanism arranged on the helipad body. The cable-grabbing mechanism includes two first cable-grabbing rods arranged in parallel along a first direction and two second cable-grabbing rods arranged in parallel along a second direction, and the second direction is perpendicular to the first direction; charging components are arranged on both of the two first cable-grabbing rods, and first elastic cable-grabbing strip assemblies for protecting the charging components from lateral scraping with the UAV landing gear are arranged on the opposite side surfaces of the two first cable-grabbing rods.

[0010] As one of the implementation manners, the first elastic cable-grabbing strip assembly includes an elastic cable-grabbing strip, and both ends of the elastic cable-grabbing strip are respectively connected to both ends of the first cable-grabbing rod. The middle part of the elastic cable-grabbing strip bulges towards the middle of the helipad body, and there is a distance between the middle part of the elastic cable-grabbing strip and the corresponding charging component in the second direction.

[0011] As one of the implementation manners, the first elastic cable-grabbing strip assembly further includes an elastic member, and the middle part of the elastic cable-grabbing strip is connected to the side surface of the first cable-grabbing rod through the elastic member.

[0012] As one of the implementation manners, the elastic cable-grabbing strip includes a straight segment arranged in the middle and arc segments arranged at both ends. Both ends of the straight segment are respectively connected to one ends of the arc segments on both sides, and the other ends of the arc segments on both sides are connected to the first cable-grabbing rod.

[0013] As one of the implementation manners, both ends of the straight line segment are respectively connected to the side surface of the first cable rod through the elastic members, and the charging assembly is located between the elastic members at both ends.

[0014] As one of the implementation manners, the charging assembly includes a charging base body disposed on the top surface of the first cable rod. A charging spring ejector pin is disposed on the side surface of the charging base body. The charging spring ejector pin and the corresponding elastic cable strip are disposed on the same side, and there is a distance between the end of the charging spring ejector pin and the elastic cable strip in the second direction.

[0015] As one of the implementation manners, an in-position detection spring ejector pin is further disposed on the side surface of the charging base body. The in-position detection spring ejector pin and the charging spring ejector pin are disposed on the same side, and there is a distance between the end of the in-position detection spring ejector pin and the corresponding elastic cable strip in the second direction.

[0016] As one of the implementation manners, second elastic cable strip assemblies are disposed on the opposite side surfaces of the two second cable rods. The structure of the second elastic cable strip assembly is the same as the structure of the first elastic cable strip assembly.

[0017] As one of the implementation manners, the cable mechanism further includes a driving component and a synchronization component. The driving component drives the two first cable rods and the two second cable rods to synchronously fold inwards or synchronously unfold outwards through the synchronization component.

[0018] As one of the implementation manners, the synchronization component includes four rotating shafts disposed at the four corners of the apron body. Two synchronous pulleys are disposed on each rotating shaft. The synchronous pulleys on two adjacent rotating shafts along the first direction are connected by a first synchronous belt. The synchronous pulleys on two adjacent rotating shafts along the second direction are connected by a second synchronous belt. Both ends of the first cable rod are respectively connected to the second synchronous belts on both sides. Both ends of the second cable rod are respectively connected to the first synchronous belts on both sides.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] (1) By adding the first elastic cable strip assembly, the present invention can protect the charging assembly, avoid lateral scratching between the drone landing gear and the charging assembly, and improve the stability and durability of use;

[0021] (2) The present invention adopts contact charging with a charging spring ejector pin to avoid poor contact caused by insufficient cable precision, equipment vibration, thermal expansion and contraction, etc.;

[0022] (3) The present invention realizes in - situ detection by adding an in - situ detection spring thimble, without the need for the drone or the corresponding remote control system to be constantly in a charging or powered - on state. This is beneficial for the cooling and maintenance of the drone equipment, improves the service life of the drone, saves electric energy, and at the same time has a simple structure, low cost, and fast detection.

[0023] (4) The apron of the present invention adopts a single drive component, and each cable - holding rod is connected in series through a synchronization component, enabling the four - rod linkage of unfolding and retracting the cables. The action efficiency is higher, the structure is simple, fewer components are required, the failure risk is reduced, and stocking, maintenance, and repair are relatively easy. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following - described drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Figure 1 Schematic diagram of the automatic cable - holding charging apron for drones provided by the embodiment of the present invention;

[0026] Figure 2 Schematic diagram of the cable - holding rods of the automatic cable - holding charging apron for drones provided by the embodiment of the present invention unfolding in all directions;

[0027] Figure 3 Partial schematic diagram of the charging component and the first elastic cable - holding strip component of the automatic cable - holding charging apron for drones provided by the embodiment of the present invention;

[0028] Figure 4 Schematic diagram of the drone component provided by the embodiment of the present invention;

[0029] Figure 5 Schematic diagram of the drone landing at the central position of the apron body provided by the embodiment of the present invention;

[0030] Figure 6 Schematic diagram of the cable - holding rods of the automatic cable - holding charging apron for drones provided by the embodiment of the present invention retracting towards the middle;

[0031] Figure 7 Partial schematic diagram of the charging component in contact with the drone component provided by the embodiment of the present invention;

[0032] Figure 8 Schematic diagram of the drone landing at a relatively off - center position on the apron body provided by the embodiment of the present invention;

[0033] In the figure: 1. Cable winching mechanism; 101. First cable winching rod; 102. Second cable winching rod; 103. Motor; 104. First synchronous belt; 105. Second synchronous belt; 106. First slider; 107. Second slider; 2. Charging assembly; 201. Charging base body; 202. Charging spring ejector pin; 203. In-position detection spring ejector pin; 3. First elastic cable winching strip assembly; 301. Elastic cable winching strip; 302. Elastic member; 4. Second elastic cable winching strip assembly; 5. Helipad body; 6. UAV assembly; 601. UAV; 602. UAV landing gear; 603. Circuit board. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a 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 those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the 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 thus cannot be understood as a limitation to the present invention.

[0036] The terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features; in the description of the present invention, unless otherwise specified, the meaning of "plural" is two or more.

[0037] Such as Figure 1 - Figure 2As shown in the figure, this embodiment provides an automatic cable-grabbing charging apron for a drone 601, which includes an apron body 5 and a cable-grabbing mechanism 1 arranged on the apron body 5. The cable-grabbing mechanism 1 includes two first cable-grabbing rods 101 arranged in parallel along a first direction and two second cable-grabbing rods 102 arranged in parallel along a second direction, and the second direction is perpendicular to the first direction; charging components 2 are arranged on both of the two first cable-grabbing rods 101, and first elastic cable-grabbing strip assemblies 3 for protecting the charging components 2 from lateral scratching with the drone landing gear 602 are arranged on the relatively arranged side surfaces of the two first cable-grabbing rods 101. In this embodiment, by adding the first elastic cable-grabbing strip assembly 3 to protect the charging components 2, it is possible to avoid lateral scratching or collision between the drone landing gear 602 and the charging components 2, resulting in damage to the thimble of the charging components 2 or the drone landing gear 602, and improving the stability and durability of use.

[0038] In some embodiments, the first elastic cable-grabbing strip assembly 3 includes an elastic cable-grabbing strip 301. The two ends of the elastic cable-grabbing strip 301 are respectively connected to the two ends of the first cable-grabbing rod 101. The middle part of the elastic cable-grabbing strip 301 bulges towards the middle of the apron body 5, and there is a distance between the middle part of the elastic cable-grabbing strip 301 and the corresponding charging component 2 in the second direction. As Figure 1 - Figure 3 shown, the elastic cable-grabbing strip 301 is arranged on the side surface of the first cable-grabbing rod 101 facing the central position of the apron body 5. The elastic cable-grabbing strip 301 extends along the first direction and its two ends are fixed to the first cable-grabbing rod 101; the charging component 2 is arranged on the top surface of the first cable-grabbing rod 101, and there is a distance between the middle part of the elastic cable-grabbing strip 301 and the corresponding charging component 2 in the second direction. Therefore, when the cable-grabbing mechanism 1 grabs the drone component 6, the elastic cable-grabbing strip 301 on the first cable-grabbing rod 101 contacts the drone landing gear 602 first, which can avoid lateral scratching between the charging component 2 and the drone landing gear 602 and improve the stability and durability of use; when continuing to grab, the elastic cable-grabbing strip 301 is gradually compressed until the middle part of the elastic cable-grabbing strip 301 is flush with the corresponding charging component 2 in the second direction, and then the charging component 2 starts to contact the circuit board 603 on the drone landing gear 602. When the grabbing is completed, the circuit is connected and charging starts.

[0039] Optimize the above embodiment. The first elastic cable component 3 further includes an elastic member 302. The middle part of the elastic cable 301 is connected to the side surface of the first cable rod 101 through the elastic member 302. The middle part of the elastic cable 301 is lifted and protruded from the charging component 2 under the action of the elastic member 302 to protect the charging component 2. When the cable mechanism 1 folds inwards and contacts the drone component 6, the elastic cable 301 will compress the elastic member 302 towards the first cable rod 101. When the cable mechanism 1 unfolds around and releases the drone component 6, the elastic cable 301 will return to its original state under the action of the elastic member 302 to facilitate the next cable operation. Specifically, the elastic member 302 can be an elastic element such as a spring, and specifically, any one of a helical spring, a disc spring, and an annular spring can be used, but it is not limited thereto.

[0040] Furthermore, the first elastic cable component 3 further includes a guide rod provided corresponding to the elastic member 302 one by one. One end of the guide rod is fixed on the side surface of the elastic cable 301 facing the first cable rod 101. At the position corresponding to the guide rod on the first cable rod 101, a guide hole penetrating along the second direction is provided. The other end of the guide rod penetrates through the guide hole. The elastic member 302 is sleeved on the guide rod and is located between the elastic cable 301 and the first cable rod 101. The guide rod can ensure that the elastic member 302 can move along the second direction when being compressed or stretched, avoiding deviation or distortion caused by uneven force. Optimally, a limit block is provided at the end of the other end of the guide rod after penetrating through the guide hole. The size of the limit block is larger than the size of the guide hole to prevent the guide rod from completely disengaging from the guide hole, thereby ensuring the structural stability and safety of the entire component.

[0041] Furthermore, the elastic cable 301 includes a straight section provided in the middle and arc sections provided at both ends. The two ends of the straight section are respectively connected to one end of the arc sections on both sides, and the other ends of the arc sections on both sides are connected to the first cable rod 101. As Figure 1 and Figure 2 shown, the straight section and the arc sections at both ends of the elastic cable 301 in this embodiment are integrated. The arc sections at both ends can support the straight section at a certain distance from the first cable rod 101 in the second direction. Optimally, the middle straight section is arranged parallel to the first cable rod 101 to more comprehensively protect the charging component 2 on the first cable rod 101.

[0042] Further optimize the above embodiment. The two ends of the straight section are respectively connected to the side surface of the first cable rod 101 through the elastic member 302, and the charging component 2 is located between the elastic members 302 at both ends. As Figure 2 and Figure 3As shown, the charging component 2 is within the range of the straight line segment, and both ends of the straight line segment are respectively connected to the side surface of the first cable pulling rod 101 through elastic members 302, which can not only ensure the safety of the charging component 2, but also ensure the stability and reliability of the elastic cable pulling strip 301.

[0043] In some embodiments, the charging component 2 includes a charging seat body 201 disposed on the top surface of the first cable pulling rod 101. A charging spring ejector pin 202 is disposed on the side surface of the charging seat body 201. The charging spring ejector pin 202 and the corresponding elastic cable pulling strip 301 are disposed on the same side, and there is a spacing between the end of the charging spring ejector pin 202 and the elastic cable pulling strip 301 in the second direction. As Figure 2 and Figure 3 shown, the charging seat body 201 is located on the top surface of the first cable pulling rod 101 to avoid interference with the first elastic cable pulling strip assembly 3; the charging spring ejector pin 202 is disposed on the side surface of the charging seat body 201 facing the central position of the apron body 5 and on the same side of the first cable pulling rod 101 as the first elastic cable pulling strip assembly 3. When the elastic cable pulling strip 301 on the first cable pulling rod 101 continues to be pulled in after contacting the drone landing gear 602, the elastic cable pulling strip 301 is gradually pressed until the middle of the elastic cable pulling strip 301 is flush with the end of the corresponding charging spring ejector pin 202 in the second direction. The end of the charging spring ejector pin 202 will contact the circuit board 603 on the drone landing gear 602, but no electrical contact is formed. Then, the cable pulling mechanism 1 continues to close towards the middle, and the charging spring ejector pin 202 continues to contact and be compressed by the circuit board 603. After the pulling-in is completed, the circuit is connected to start charging the drone 601. In this embodiment, a large-stroke charging spring ejector pin 202 is used for contact charging. The effective working stroke of the charging spring ejector pin 202 is 10 mm, which can avoid poor contact caused by insufficient cable pulling accuracy, equipment vibration, thermal expansion and contraction, etc.

[0044] Optimizing the above embodiment, an in-position detection spring ejector pin 203 is further disposed on the side surface of the charging seat body 201. The in-position detection spring ejector pin 203 and the charging spring ejector pin 202 are disposed on the same side, and there is a spacing between the end of the in-position detection spring ejector pin 203 and the corresponding elastic cable pulling strip 301 in the second direction. As Figure 2 and Figure 3As shown in the figure, the in-position detection spring ejector pin 203 is arranged on the side of the charging base body 201 facing the central position of the apron body 5, and is on the same side of the charging spring ejector pin 202 and the first elastic cable component 3 arranged on the first cable rod 101. Optimally, the in-position detection spring ejector pin 203 and the charging spring ejector pin 202 have the same structure, and the two are arranged in parallel and have the same length extending outside the charging base body 201 and the same effective working stroke. When the UAV 601 is not in position, the in-position detection spring ejector pin 203 is in a floating state; when the UAV 601 is in position, the in-position detection spring ejector pin 203 is given a voltage, and the in-position detection spring ejector pin 203 is in electrical contact with the circuit board 603 on the landing gear 602 of the UAV and forms an electrical circuit. By detecting the voltage and current of the electrical circuit, it can be judged whether the UAV 601 is in position; after confirming that the UAV 601 is in position, the charging spring ejector pin 202 is also in electrical contact with the circuit board 603 at this time, and the UAV 601 can start to be charged.

[0045] In some embodiments, the second elastic cable components 4 are arranged on the opposite sides of the two second cable rods 102, and the structure of the second elastic cable component 4 is the same as that of the first elastic cable component 3. As Figure 1 - Figure 2 shown, the second elastic cable component 4 is arranged on the side of the second cable rod 102 facing the middle position of the apron body 5. The second elastic cable component 4 has the same structure as the first elastic cable component 3, and the only difference is that the two ends of the elastic cable 301 of the second elastic cable component 4 are respectively fixed to the two ends of the second cable rod 102. By respectively installing the first elastic cable component 3 and the second elastic cable component 4 with the same structure on the first cable rod 101 and the second cable rod 102, it is convenient to realize that two first cable rods 101 and two second cable rods 102 are driven by a set of driving components to synchronously move towards the middle to gather the UAV 601 to the central position of the apron body 5 after the UAV 601 lands.

[0046] Further, the cable retracting mechanism 1 further includes a driving component and a synchronization component. The driving component drives the two first cable retracting rods 101 and the two second cable retracting rods 102 to synchronously retract towards the middle or synchronously expand towards the surroundings through the synchronization component. In this embodiment, one driving component is adopted for control, and the two first cable retracting rods 101 and the two second cable retracting rods 102 are connected in series through the synchronization component, enabling the four-rod linkage of expansion and retraction, greatly simplifying the complexity of operation. In practical applications, before the UAV 601 takes off, the driving component drives the synchronization component to drive the two first cable retracting rods 101 and the two second cable retracting rods 102 to synchronously expand towards the surroundings, and the four cable retracting rods are respectively expanded to the edge positions of the apron, providing an open takeoff space for the UAV 601; after the UAV 601 lands, the driving component drives the synchronization component to drive the two first cable retracting rods 101 and the two second cable retracting rods 102 to synchronously retract towards the middle, retracting the UAV 601 to the central position of the apron body 5 for charging the UAV 601. Compared with the apron where the two pairs of cable retracting rods move independently, the apron in this embodiment has higher action efficiency, relatively simple structure, fewer components required, reduced failure risk, and is relatively easy for stocking and maintenance.

[0047] In some embodiments, the synchronization component includes four rotating shafts provided at the four corners of the apron body 5. Two synchronization wheels are provided on each rotating shaft. The synchronization wheels on two adjacent rotating shafts along the first direction are connected by a first synchronous belt 104, and the synchronization wheels on two adjacent rotating shafts along the second direction are connected by a second synchronous belt 105; both ends of the first cable retracting rod 101 are respectively connected to the second synchronous belts 105 on both sides, and both ends of the second cable retracting rod 102 are respectively connected to the first synchronous belts 104 on both sides. As Figure 1 - Figure 2As shown in the figure, the apron body 5 is rectangular. On the two sides extending in the first direction, first synchronous belts 104 are respectively arranged to connect the synchronous wheels at both ends of the corners. On the two sides extending in the second direction, second synchronous belts 105 are respectively arranged to connect the synchronous wheels at both ends of the corners. The two first synchronous belts 104 and the two second synchronous belts 105 are combined to form a rectangular frame. On both sides of each first synchronous belt 104, first sliders 106 are arranged. The two ends of one second cable rod 102 are respectively connected to the first sliders 106 on the left side of the two first synchronous belts 104, and the two ends of the other second cable rod 102 are respectively connected to the first sliders 106 on the right side of the two first synchronous belts 104. On both sides of each second synchronous belt 105, second sliders 107 are arranged. The two ends of one first cable rod 101 are respectively connected to the second sliders 107 on the left side of the two second synchronous belts 105, and the two ends of the other first cable rod 101 are respectively connected to the second sliders 107 on the right side of the two second synchronous belts 105. The rotating shaft at one corner is connected to the driving component. Therefore, the driving component can transmit power to the two first synchronous belts 104 and the two second synchronous belts 105, so as to realize the synchronous linkage of the four synchronous belts. When the two first synchronous belts 104 move, they drive the second cable rods to synchronously retract towards the middle or synchronously expand towards the surroundings. When the two second synchronous belts 105 move, they drive the two first cable rods 101 to synchronously retract towards the middle or synchronously expand towards the surroundings.

[0048] In this embodiment, the driving component includes a motor 103, and the output shaft of the motor 103 is connected to one of the rotating shafts. The upper end and the lower end of each rotating shaft are rotatably installed at the corners of the apron body 5 through bearings. When the motor 103 rotates, it can drive the synchronous wheels on the rotating shaft connected to it to rotate, thereby driving the two first synchronous belts 104 and the two second synchronous belts 105 to move together, and then driving the two first cable rods 101 and the two second cable rods 102 to move together, realizing the synchronous retraction of the two first cable rods 101 and the two second cable rods 102 towards the middle or the synchronous expansion towards the surroundings. Specifically, when the motor 103 rotates forward, the two synchronous belts drive the four cable rods to simultaneously retract towards the middle and clamp the drone 601. When the motor 103 rotates in reverse, the two synchronous belts drive the four cable rods to simultaneously expand towards the surroundings and release the drone 601.

[0049] As Figure 4 shown in the figure, the drone component 6 includes a drone 601, a drone tripod 602 arranged at the bottom of the drone 601, a circuit board 603 arranged on the drone tripod 602, etc. The drone tripod 602 is used to support the drone 601 for easy collection by the cable collection mechanism 1. The circuit board 603 is used to charge the drone 601 and perform in-position detection. The process of collecting and charging the drone component 6 by using the automatic cable collection and charging apron for the drone 601 in this embodiment is as follows:

[0050] The retracting process is as follows: As Figure 5 shown, the drone component 6 lands on the apron body 5, the motor 103 rotates forward, driving the two first retracting rods 101 and the two second retracting rods 102 to retract synchronously towards the middle; Since the elastic retracting strips 301 on the first retracting rod 101 and the second retracting rod 102 protrude towards the central position of the apron body 5, when retracting, they will first come into contact with the drone landing gear 602. At the same time, the first retracting rod 101 and the second retracting rod 102 drive the drone component 6 to move towards the middle of the apron body 5; When continuing to retract, the springs on the elastic retracting strip 301 components of the first retracting rod 101 and the second retracting rod 102 are gradually compressed, and the drone component 6 also gradually moves to the central position; The first retracting rod 101 and the second retracting rod 102 continue to retract. At this time, the elastic retracting strip 301 on the elastic retracting strip 301 component is gradually pressed, and the charging spring ejector pin 202 and the in-position detection spring ejector pin 203 on the charging component 2 begin to contact the circuit board 603 on the drone landing gear 602, but no electrical contact is formed. During the continuous retracting process, the charging spring ejector pin 202 and the in-position detection spring ejector pin 203 are gradually compressed. When the closing limit induction switch on the platform lights up and gives an electrical signal to the system, the motor 103 is controlled to stop moving, as Figure 6 shown, the retracting is completed. At this time, both the charging spring ejector pin 202 and the in-position detection spring ejector pin 203 are in electrical contact with the circuit board 603 on the drone landing gear 602, as Figure 7 shown. After confirming that the drone 601 is in position, the circuit is connected and charging and in-position detection start.

[0051] The unfolding process is as follows: The motor 103 rotates in reverse, driving the two first retracting rods 101 and the two second retracting rods 102 to unfold synchronously towards the surroundings. At this time, the charging spring ejector pin 202 and the in-position detection spring ejector pin 203 gradually extend, the springs on the elastic retracting strip 301 components gradually elongate, and the elastic retracting strip 301 gradually bends and protrudes; The first retracting rod 101 and the second retracting rod 102 continue to unfold, and the charging spring ejector pin 202 and the in-position detection spring ejector pin 203 successively disengage from the circuit board 603. At this time, the circuit is disconnected and charging and in-position detection stop; The elastic retracting strips 301 on the first retracting rod 101 and the second retracting rod 102 also successively disengage from the drone landing gear 602. When the unfolding limit induction switch on the platform lights up and gives an electrical signal to the system, the motor 103 is controlled to stop moving, and the first retracting rod 101 and the second retracting rod 102 are both unfolded to the peripheral edge positions, returning to the Figure 2 state shown.

[0052] When the drone 601 actually lands, it often lands at a relatively off-center position on the apron body 5 due to side winds or other conditions. For example, it lands on the apron body 5 Figure 8The position shown. When the first cable rod 101 and the second cable rod 102 are retracted, the cable rods of the first cable rod 101 on the left side and the second cable rod 102 on the upper side will first contact the drone leg 602 and be gradually compressed; when the first cable rod 101 and the second cable rod 102 continue to be retracted, after the drone 601 is gradually moved to the middle position of the apron body 5, the charging spring ejector pin 202 and the in-position detection spring ejector pin 203 start to contact the circuit board 603 on the drone leg 602, and finally the cable retraction action is completed. The apron in this embodiment can achieve fast cable retraction, reliable charging and in-position detection, and has low cost, stable and reliable working performance, and strong scalability.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A drone automatic landing and charging apron, comprising a landing apron body and a landing mechanism arranged on the landing apron body, wherein the landing mechanism comprises two first landing poles arranged in parallel along a first direction and two second landing poles arranged in parallel along a second direction, wherein the second direction is perpendicular to the first direction; characterized in that: A charging assembly is disposed on each of the two first gripping rods, and a first elastic gripping strip assembly for protecting the charging assembly from lateral scratches with the drone tripod is disposed on opposite sides of the two first gripping rods.

2. The automatic drone charging landing pad as claimed in claim 1, characterized in that: The first elastic grip bar assembly includes an elastic grip bar, two ends of which are respectively connected to two ends of the first grip rod, a middle portion of the elastic grip bar protrudes toward the middle of the apron body, and a distance is provided between the middle portion of the elastic grip bar and the corresponding charging assembly in the second direction.

3. The automatic drone charging landing pad as claimed in claim 2, characterized in that: The first elastic gripping strip assembly further comprises an elastic member, and the middle portion of the elastic gripping strip is connected to the side surface of the first gripping rod through the elastic member.

4. The automatic drone charging landing pad as claimed in claim 3, characterized in that: The elastic machine-grasping strip includes a straight line segment arranged in the middle and arc segments arranged at both ends. The two ends of the straight line segment are respectively connected to one end of the arc segments on both sides, and the other ends of the arc segments on both sides are connected to the first machine-grasping rod.

5. The automatic drone charging landing pad as claimed in claim 4, characterized in that: The two ends of the straight section are respectively connected to the side surfaces of the first gripping rod through the elastic members, and the charging assembly is located between the elastic members at the two ends.

6. The automatic drone charging landing pad according to any one of claims 2 to 5, characterized in that: The charging assembly includes a charging seat body arranged on the top surface of the first gripping rod, and a charging spring pin is arranged on the side of the charging seat body. The charging spring pin and the corresponding elastic gripping strip are arranged on the same side, and the end of the charging spring pin is spaced from the elastic gripping strip in the second direction.

7. The automatic drone charging landing pad as claimed in claim 6, characterized in that: A spring pin for detecting in-place is also provided on the side of the charging seat. The spring pin for detecting in-place and the charging spring pin are arranged on the same side, and an end of the spring pin for detecting in-place is spaced from the corresponding elastic strip in the second direction.

8. The automatic drone charging landing pad as claimed in claim 1, characterized in that: Second elastic gripping strip assemblies are provided on opposite sides of the two second gripping bars, and the structure of the second elastic gripping strip assemblies is the same as that of the first elastic gripping strip assemblies.

9. The automatic drone charging landing pad as claimed in claim 8, characterized in that: The aircraft grasping mechanism further includes a driving assembly and a synchronization assembly. The driving assembly drives the two first aircraft grasping rods and the two second aircraft grasping rods to be synchronously retracted toward the middle or synchronously extended toward the surroundings through the synchronization assembly.

10. The automatic drone charging landing pad as claimed in claim 9, characterized in that: The synchronization component includes four rotating shafts arranged at the four corners of the apron body, and two synchronous wheels are arranged on each of the rotating shafts. The synchronous wheels on the two rotating shafts adjacent to each other along the first direction are connected by a first synchronous belt, and the synchronous wheels on the two rotating shafts adjacent to each other along the second direction are connected by a second synchronous belt; the two ends of the first aircraft grasping rod are respectively connected to the second synchronous belts on both sides, and the two ends of the second aircraft grasping rod are respectively connected to the first synchronous belts on both sides.

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