Security and protection hangar and unmanned aerial vehicle assembling method

Abstract

The invention provides a security and protection hangar and an unmanned aerial vehicle assembling method, and relates to the technical field of hangar engineering, and the security and protection hangar comprises a hangar body, a cabin door assembly, an alignment platform and an assembling assembly. A working chamber is defined by the hangar body; the cabin door assembly is arranged on one side of the hangar body and is configured to be used for closing or opening the working chamber; the aligning platform comprises a platform body and an aligning assembly, the platform body faces the opening end of the cabin door assembly, and the aligning assembly comprises a centering mechanism and a shifting rod mechanism; the assembling assembly at least comprises a mechanical gripper and a portal frame mechanism, the portal frame mechanism is located in the working cavity, the mechanical gripper is arranged in the portal frame mechanism in a sliding mode and is configured to be used for completing assembling of the unmanned aerial vehicle and accessories, and the accessories at least comprise a throwing device. According to the hangar, through multi-assembly linkage, multi-scene requirements such as relief goods delivery and inspection equipment replacement can be met, the posture of the unmanned aerial vehicle does not need to be frequently adjusted or accessories do not need to be manually replaced, and the operation complexity and the labor cost are remarkably reduced.

Description

Technical Field

[0001] This application relates to the technical field of hangar engineering, and more particularly, to a security hangar and a method for assembling unmanned aerial vehicles (UAVs). Background Art

[0002] In recent years, with the rapid development of UAV technology, its applications in fields such as security patrol, material transportation, and emergency rescue have become increasingly widespread. However, there are two core problems in the large-scale deployment of UAVs. One is the lack of automated operation and maintenance capabilities, and the other is the low precision operation efficiency in complex scenarios.

[0003] Most of the UAV hangars in related technologies adopt an open structure or a simple shielding design, which can only provide basic parking functions and cannot achieve the autonomous adjustment, accessory loading and unloading, and multi-task adaptation of UAVs. Specifically, the parking and positioning accuracy is insufficient: when the UAV lands, it is easily affected by the environment (such as wind and uneven ground), and it is necessary to rely on manual intervention to adjust the position and orientation, which is time-consuming and difficult to adapt to night or bad weather operations. At the same time, the installation of task accessories such as catapults and sensors requires on-site operation by operators, which restricts the rapid response ability of UAVs and there is a risk of misoperation. Therefore, the UAV hangars in related technologies have the defect of weak intelligence, and they cannot perform automated processing throughout the process, and it is difficult to meet the needs of rapid deployment in multiple scenarios. Summary of the Invention

[0004] The purpose of this application is to provide a security hangar and a method for assembling UAVs. Through the multi-module collaborative cooperation of the hatch assembly, adjustment platform, and assembly component, it improves the automation level and operation efficiency of UAV operation and maintenance, and can automatically complete the deployment and configuration requirements of UAVs.

[0005] The embodiments of this application are implemented as follows: The embodiments of this application provide a security hangar for parking and accessory assembly of UAVs, including: A hangar body, which encloses a working chamber; A hatch assembly, arranged on one side of the hangar body and configured to close or open the working chamber; An adjustment platform, including a platform body and an adjustment component. The opening end of the platform body faces the hatch assembly. The adjustment component includes a centering mechanism and a lever mechanism. The centering mechanism is configured to adjust the position of the UAV, and the lever mechanism is used to adjust the orientation of the UAV; An assembly component, at least including a mechanical gripper and a gantry mechanism. The gantry mechanism is located in the working chamber. The mechanical gripper is slidably arranged in the gantry mechanism and is configured to complete the assembly of the UAV and accessories. Among them, the accessories at least include a catapult.

[0006] In some embodiments of the present application, the centering mechanism includes a first centering unit and a second centering unit, the first centering unit is slidably disposed on the platform body along a first preset direction, and the second centering unit is slidably disposed on the platform body along a second preset direction; the lever mechanism includes a lever and a driving unit, and the lever can rotate within a first preset plane driven by the driving unit; The first preset direction and the second preset direction are not parallel to each other, and neither the first preset direction nor the second preset direction is located in the first preset plane.

[0007] In some embodiments of the present application, the lever mechanism also includes an alignment base plate, which is installed on the platform body; the driving unit is an electric push rod, one end of which is connected to the alignment base plate, and the other end is connected to the lever, one end of the lever is rotatably connected to the alignment base plate, and the free end of the lever is used to align the drone.

[0008] In some embodiments of the present application, the shifting rod includes a shifting portion, a connecting portion and a rotating portion, the connecting portion is a straight bar structure, the rotating portion is located in the middle section of the connecting portion, and the rotating portion is connected to the electric push rod on the side away from the connecting portion; one end of the connecting portion is connected to the shifting base plate, and the other end is connected to the shifting portion, the shifting portion is "V"-shaped, and the opening of the shifting portion is away from the connecting portion.

[0009] In some embodiments of the present application, the mechanical gripper includes a gripper base plate, a button mechanism and a clamping mechanism, the button mechanism includes a transmission unit and a button push rod, the transmission unit is installed on the gripper base plate, the button push rod is connected to the transmission unit, and can rotate along a first preset plane under the drive of the transmission unit to connect the accessory; the clamping mechanism includes a connected cylinder unit and a clamping claw, the cylinder unit is installed on the gripper base plate, and the clamping claw can slide along a second preset plane under the drive of the cylinder unit to clamp the accessory; wherein, the first preset plane and the second preset plane are perpendicular to each other.

[0010] In some embodiments of the present application, the button push rod includes a transmission part, a push rod body part and a button part, the transmission part is provided with a U-shaped groove which is adapted to the transmission unit, the push rod body part is a wedge-shaped structure, and the large diameter end of the push rod body part is connected to the transmission part, the small diameter end of the push rod body part is connected to the button part, and the outer contour of the button part is adapted to the mounting groove of the accessory.

[0011] In some embodiments of the present application, the assembly component further includes a carrier and a connection unit, the accessory further includes a box body, the carrier includes a frame body and a bearing unit, the bearing unit can partition the frame body to form multiple bearing chambers arranged at intervals in the height direction, and any one of the bearing chambers is used for arranging the box body; the connection unit includes a lifting module and a telescopic module, the telescopic module is arranged on the lifting module, and it can telescopically move in the horizontal direction to extend into or out of the bearing chamber, and the lifting module can move in the height direction to drive the telescopic module and make it correspond to different bearing chambers.

[0012] In some embodiments of the present application, the lifting module includes a bottom plate, a first servo motor, a first lead screw, a scissor lift link and a scissor lift platform. The first servo motor and the first lead screw are both arranged on the bottom plate, and the first servo motor is connected to the first lead screw. One side of the scissor lift link is sleeved on the first lead screw, and the other side is connected to the scissor lift platform; wherein, by the rotation of the first lead screw, the scissor lift link can drive the scissor lift platform to move in the height direction.

[0013] In some embodiments of the present application, the hatch assembly includes two sets of hatch units arranged oppositely. Any one of the hatch units includes a hatch body and a rack transmission unit connected thereto. One of the hatch bodies can move in a direction away from or close to the other hatch body through the rack transmission unit to open or close the working chamber.

[0014] The embodiments of the present application further provide a method for assembling an unmanned aerial vehicle, which is applied to the above-mentioned security hangar and includes the following steps: Obtain a work instruction, wherein the work instruction includes a parking instruction and a take-off instruction; When responding to the work instruction as a parking instruction, Control the hatch assembly to open, and continuously obtain the first position signal of the platform body; Based on the first position signal, control the adjustment component to work to adjust the unmanned aerial vehicle to the accessory loading and unloading station, and at the same time control the mechanical gripper to work to unload the accessories in the unmanned aerial vehicle, and the hatch assembly is closed; When responding to the work instruction as a take-off instruction, Based on the take-off instruction, grab the corresponding target accessory through the mechanical gripper and assemble the target accessory on the unmanned aerial vehicle; Control the hatch assembly to open, and the unmanned aerial vehicle completes take-off.

[0015] The security hangar and the UAV assembly method provided by the embodiments of the present application realize the full-process automation of UAV parking, accessory loading and unloading, and task adaptation through the coordinated control of the adjustment component, the mechanical gripper, and the connection unit. That is, when the UAV lands on the adjustment platform, the centering mechanism slides and clamps the UAV fuselage along the first preset direction and the second preset direction, and the V-shaped alignment part of the lever mechanism adaptively adjusts the orientation of the UAV, so that the UAV is accurately positioned at the assembly station. Subsequently, the button push rod of the mechanical gripper triggers the accessory lock through wedge transmission, and at the same time, the vertical claw clamps the thrower or the box along the second preset plane to complete the rapid loading and unloading of the accessory. When it is necessary to switch different task accessories, the scissor lift platform of the connection unit drives the telescopic module to rise to the target bearing chamber, horizontally extends and grabs the specified accessory and transfers it to the mechanical gripper without manual intervention. Through the above multi-component linkage, the UAV can complete the complete process from landing to assembly and then takeoff in a short time, and is suitable for the multi-scene requirements such as rescue material delivery and inspection equipment replacement. Users do not need to frequently adjust the UAV pose or manually replace accessories, which significantly reduces the operation complexity and labor cost, and improves the emergency response efficiency and operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic structural diagram of a security hangar provided by an embodiment of the present application; Figure 2 It is a schematic structural diagram of a hatch assembly provided by an embodiment of the present application; Figure 3 It is a schematic structural diagram of an adjustment platform for a UAV provided by an embodiment of the present application; Figure 4 It is a top view of an adjustment platform for a UAV provided by an embodiment of the present application; Figure 5 It is a first side view of an adjustment platform for a UAV provided by an embodiment of the present application; Figure 6 It is a second side view of an adjustment platform for a UAV provided by an embodiment of the present application; Figure 7 It is a schematic structural diagram of a lever provided by an embodiment of the present application; Figure 8 It is another schematic structural diagram of an adjustment platform for a UAV provided by an embodiment of the present application; Figure 9One of the structural schematic diagrams of the robotic gripper provided by an embodiment of the present application; Figure 10 Another structural schematic diagram of the robotic gripper provided by an embodiment of the present application; Figure 11 Structural schematic diagram of the button push rod provided by an embodiment of the present application; Figure 12 Structural schematic diagram of the button part provided by an embodiment of the present application; Figure 13 Structural schematic diagram of the assembly component provided by an embodiment of the present application; Figure 14 One of the structural schematic diagrams of the box docking mechanism provided by an embodiment of the present application; Figure 15 Another structural schematic diagram of the box docking mechanism provided by an embodiment of the present application; Figure 16 Structural schematic diagram of the cargo box bearing plate provided by an embodiment of the present application; Figure 17 Structural schematic diagram of the limit wing plate provided by an embodiment of the present application.

[0018] Icons: 110 - platform body; 1111 - lever; 11111 - straightening part; 11112 - connecting part; 11113 - rotating part; 1112 - straightening base plate; 1113 - driving unit; 1121 - first alignment push rod; 1122 - first alignment support plate; 1123 - first lead screw nut; 1124 - first platform lead screw; 1125 - first motor; 1131 - second alignment push rod; 1132 - second alignment support plate; 1133 - second lead screw nut; 1134 - second platform lead screw; 1135 - second motor; 114 - lifting limit plate; 1151 - lifting heightening plate; 1152 - ball screw lift; 200 - drone; 2100 - mechanical gripper; 210 - gripper base plate; 2101 - gripper through hole; 2111 - push rod cylinder body; 2112 - push rod piston; 2113 - button push rod; 21131 - transmission part; 21132 - push rod body part; 21133 - button part; 211331 - button base plate; 211332 - button fixing block; 211333 - positioning block; 21134 - U-shaped groove; 21135 - weight reduction through hole; 21136 - rotating through hole; 2122 - jaw; 2123 - pin; 2131 - lever fulcrum; 2132 - rotating cross bar; 2200 - accessory; 2300 - assembly component; 230 - rotating mechanism; 2311 - first shaft body; 2312 - second shaft body; 2313 - sliding unit; 3100 - box body connection mechanism; 3101 - frame body; 3102 - positioning plate; 3103 - bearing chamber; 3111 - base plate; 3112 - first servo motor; 3113 - first lead screw; 3114 - scissor lift link; 3115 - scissor lift platform; 3116 - cargo box bearing plate; 31161 - plate body; 31162 - limiting wing plate; 311621 - supporting part; 311622 - limiting part; 311623 - wing part; 31163 - through hole; 31164 - accommodating groove; 31165 - body part; 31166 - extending part; 3117 - second servo motor; 3118 - second lead screw; 3119 - sliding plate; 3201 - square pipe frame; 3202 - cover plate; 321 - cable puller; 322 - fixing block. Detailed implementation manners

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Usually, the components of the embodiments of the present application described and illustrated herein can be arranged and designed in various different configurations.

[0020] Accordingly, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the claimed present application, but merely represents selected embodiments of the present application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative efforts shall fall within the scope of protection of the present application.

[0021] It should be noted that like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0022] In the description of the embodiments of the present application, it should be noted that if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship in which the inventive product is customarily placed. It is only for the convenience of describing the present application 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 should not be construed as a limitation to the present application. In addition, terms such as "first", "second", "third", etc. are only used for descriptive distinction and cannot be understood as indicating or implying relative importance.

[0023] In addition, if terms such as "horizontal", "vertical", "hanging" are used, it does not mean that the component is required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0024] In the description of the embodiments of the present application, "a plurality of" represents at least two.

[0025] In the description of the embodiments of the present application, it should also be noted that unless otherwise clearly specified and limited, if terms such as "set", "installed", "connected", "connected to" are used, they should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0026] Such as Figures 1 - 17As shown in the figure, the security hangar may include a hangar body, a hatch assembly, an adjustment platform, and an assembly component. The hangar body encloses a working chamber; the hatch assembly is arranged on one side of the hangar body and is configured to close or open the working chamber; the adjustment platform includes a platform body and an adjustment component. The platform body faces the open end of the hatch assembly. The adjustment component includes a centering mechanism and a lever mechanism. The centering mechanism is configured to adjust the position of the drone, and the lever mechanism is used to adjust the orientation of the drone; the assembly component at least includes a mechanical gripper and a gantry mechanism. The gantry mechanism is located in the working chamber. The mechanical gripper is slidably arranged in the gantry mechanism and is configured to complete the assembly of the drone and the accessories. Among them, the accessories at least include a catapult.

[0027] Specifically, when the drone lands on the adjustment platform, the centering mechanism slides along the first preset direction and the second preset direction to clamp the drone fuselage, and the V-shaped alignment part of the lever mechanism adaptively adjusts the orientation of the drone, so that the drone is accurately positioned at the assembly station; subsequently, the button push rod of the mechanical gripper triggers the accessory lock through wedge transmission, and at the same time, the vertical claw clamps the catapult or the box along the second preset plane to complete the rapid loading and unloading of the accessories; when it is necessary to switch different task accessories, the scissor lift platform of the docking unit drives the telescopic module to rise to the target loading chamber, horizontally extends and grabs the specified accessory and transfers it to the mechanical gripper without manual intervention; through the linkage of the above-mentioned multi-components, the drone can complete the complete process from landing to assembly and then takeoff in a short time, and is suitable for multi-scene requirements such as rescue material delivery and inspection equipment replacement. Users do not need to frequently adjust the pose of the drone or manually replace the accessories, which significantly reduces the operation complexity and labor cost, and improves the emergency response efficiency and operation safety.

[0028] In this embodiment, the adjustment platform may include a platform body 110, a centering mechanism, and a lever 1111 mechanism. The centering mechanism includes a first centering unit and a second centering unit. The first centering unit is slidably arranged on the platform body 110 along the first preset direction, and the second centering unit is slidably arranged on the platform body 110 along the second preset direction; the lever 1111 mechanism includes a lever 1111 and a driving unit 1113. The lever 1111 can rotate in the first preset plane under the drive of the driving unit 1113; among them, the first preset direction and the second preset direction are not parallel to each other, and both the first preset direction and the second preset direction are not in the first preset plane.

[0029] It should be understood that the first preset plane in this embodiment refers to a vertical plane, and the first preset direction and the second preset direction refer to two directions in a horizontal plane. Therefore, both the first preset direction and the second preset direction are not in the first preset plane.

[0030] It is worth noting that the first preset direction and the second preset direction in the present embodiment are not parallel to each other, and their cooperation can push the drone 200 docked on the platform body 110 to the preset position, and then adjust the blades of the drone 200 to the preset position through the lever 1111 mechanism, thereby ensuring the accuracy of the docking position of the drone 200 after recovery, and ensuring that the drone 200 can take off smoothly when performing a mission again.

[0031] It is also worth mentioning that precise adjustment in two directions can shorten the time for the drone 200 to go from docking to workstation positioning, providing quick preparation for the drone 200 to take off again to perform tasks. The non-parallel direction adjustment can accurately eliminate the initial position deviation of the drone 200 and avoid the cumulative error that may be introduced by traditional single-direction or plane adjustment.

[0032] In this embodiment, the lever 1111 mechanism also includes an alignment base plate 31112, which is installed on the platform body 110; the driving unit 1113 is an electric push rod, one end of which is connected to the alignment base plate 31112, and the other end is connected to the lever 1111, one end of the lever 1111 is rotatably connected to the alignment base plate 31112, and the free end of the lever 1111 is used to align the drone 200.

[0033] It is worth noting that the free end of the lever 1111 is used to adjust the drone 200, and can directly act on the blades or other structural parts of the drone 200 to adjust them to a preset position, ensuring that the posture of the drone 200 is accurately aligned with the docking position required by the mission. The rotating connection design of the lever 111 cooperates with the linear drive of the electric push rod, so that it can be flexibly rotated within the first preset plane to achieve fine adjustment, thereby adapting to drones 200 of different models or states.

[0034] In this embodiment, the lever 1111 includes a shifting portion 11111, a connecting portion 11112 and a rotating portion 11113. The connecting portion 11112 is a straight bar structure. The rotating portion 11113 is located in the middle of the connecting portion 11112, and the rotating portion 11113 is connected to the electric push rod on the side away from the connecting portion 11112.

[0035] It is worth mentioning that the straight-line connecting portion 11112 can ensure that the transmission direction of the force of the lever 1111 is clear and stable, so that the movement of the lever 1111 can act more accurately on the blades or other structures of the drone 200, and the rotating portion 11113 is arranged at the middle position of the connecting portion 11112, so that the lever 1111 can flexibly rotate with the rotating portion 11113 as the fulcrum, thereby achieving a larger range of adjustment to meet the adjustment requirements of different drones 200.

[0036] In this embodiment, one end of the connecting portion 11112 is connected to the aligning base plate 31112, and the other end is connected to the aligning portion 11111. The aligning portion 11111 is in a "V" shape, and the opening of the aligning portion 11111 faces away from the connecting portion 11112.

[0037] It should be noted that the "V" shape design of the aligning portion 11111 enables it to be compatible with drone 200 blades or fuselage components of different sizes and shapes. During alignment, the two sides of the "V" shape can naturally fit the surface of the components of the drone 200, reducing the precision requirements for the contact positions and enhancing the adaptability of the operation. At the same time, the structural setting where the opening faces away from the connecting portion 11112 can ensure that the dial rod 1111 can smoothly wrap around or contact the components of the drone 200 during the alignment process, reducing the risk of misalignment or incomplete adjustment.

[0038] In this embodiment, the first centering unit includes a first alignment push rod 1121, a first alignment support plate 1122, a first platform lead screw nut 1123, a first platform lead screw 1124, and a first motor 1125. The output end of the first motor 1125 is connected to the first platform lead screw 1124. The first platform lead screw nut 1123 is threadedly connected to the first platform lead screw 1124 and can move along a first preset direction through the rotation of the first platform lead screw 1124. The first alignment push rod 1121 is connected to the first platform lead screw nut 1123 through the first alignment support plate 1122. The second centering unit includes a second alignment push rod 1131, a second alignment support plate 1132, a second platform lead screw nut 1133, a second platform lead screw 1134, and a second motor 1135. The output end of the second motor 1135 is connected to the second platform lead screw 1134. The second platform lead screw nut 1133 is threadedly connected to the second platform lead screw 1134 and can move along a second preset direction through the rotation of the second platform lead screw 1134. The second alignment push rod 1131 is connected to the second platform lead screw nut 1133 through the second alignment support plate 1132.

[0039] It should be noted that the threaded connection structure of the lead screw and the lead screw nut ensures the smooth movement of the push rod during the adjustment process, which has the characteristics of high transmission accuracy and high positioning accuracy. By respectively driving the lead screws to rotate through the first motor 1125 and the second motor 1135, the position of the drone 200 can be quickly adjusted, shortening the time for the drone 200 to be centered and improving the operation efficiency.

[0040] In some embodiments of the present application, the width of the first alignment push rod 1121 is greater than the width of the second alignment push rod 1131, and the first alignment push rod 1121 and the second alignment push rod 1131 are independent of each other and do not contact each other.

[0041] It should be noted that the first pair of positive push rods 1121 has a larger width, which can provide a larger contact area during the adjustment process, enhance the stability of thrust transmission, and is suitable for coping with larger adjustment requirements in the first preset direction. For example, as Figure 1 shown, it can push two legs of the drone 200 simultaneously. The second pair of positive push rods 1131 has a smaller width and is more flexible, capable of finely adjusting the position in the second preset direction. In addition, the width settings of the first pair of positive push rods 1121 and the second pair of positive push rods 1131 can enable them to not contact each other and operate independently, avoiding the problem of position deviation caused by contact or interference during the adjustment process, and improving the accuracy of adjusting the drone 200 to the predetermined position.

[0042] It should be understood that during specific use, the drone 200 can first dock at any position of the platform body 110. At this time, the first pair of positive push rods 1121 will push it to the centered working position in the first preset direction. Then the second pair of positive push rods 1131 will push it to the above-mentioned preset working position (such as Figure 1 the working position shown). Finally, the paddle orientation of the drone 200 is adjusted through the lever 1111.

[0043] In this embodiment, the centering mechanism further includes a plurality of landing limit plates 114. The landing limit plates 14 are arranged on the platform body 110 and correspond to the end positions of the first platform lead screw 1124 and / or the second platform lead screw 1134.

[0044] It can be understood that the landing limit plates 114 are set at the end positions of the lead screws, which can effectively limit the maximum stroke of the push rods, prevent the push rods from exceeding the design range, and avoid mechanical damage caused by excessive movement. In addition, through the physical limit method, the structural conflict or jamming phenomenon caused by the over-movement of the push rods when the motor control fails can be avoided, improving the operating safety of the equipment.

[0045] In this embodiment, the number of the first pair of positive push rods 1121 and the second pair of positive push rods 1131 is two each. The two first pairs of positive push rods 1121 are arranged oppositely on both sides of the first platform lead screw 1124, and the two second pairs of positive push rods 1131 are arranged oppositely on both sides of the second platform lead screw 1134.

[0046] Optionally, the first preset direction and the second preset direction are perpendicular to each other.

[0047] Specifically, the first preset direction and the second preset direction are perpendicular to each other, so that the adjustments in the two directions do not interfere with each other, thereby enabling the drone 200 to be adjusted to the target working position more accurately, avoiding deviation or cross-influence. The perpendicular direction setting reduces the complex adjustment calculation requirements and reduces the motion vector decomposition error caused by non-orthogonal layout.

[0048] In this embodiment, the adjustment platform 1100 for the drone further includes a lifting mechanism. The lifting mechanism includes a lifting spacer plate 1151 and a ball screw elevator 1152. One side of the lifting spacer plate 1151 is provided with the platform body 10, and the other side is provided with the ball screw elevator 1152. The platform body 110 can move along a third preset direction through the lifting mechanism. Among them, the first preset direction, the second preset direction, and the third preset direction are all non-parallel to each other.

[0049] It should be noted that the lifting mechanism can work in coordination with the centering mechanism and the lever 1111 mechanism to form a complete automatic adjustment system for the drone 200, realizing the full-automatic adjustment of the drone 200 from recovery to docking, greatly reducing manual intervention, and improving work efficiency. At the same time, through precise adjustment in three-dimensional directions, the standardization of the docking of the drone 200 is ensured, providing an accurate position basis for subsequent links such as takeoff, charging, and maintenance.

[0050] In this embodiment, the mechanical gripper 2100 may include a bottom plate 210, a button mechanism, and a clamping mechanism. The button mechanism includes a transmission unit and a button push rod 2113. The transmission unit is installed on the bottom plate 210. The button push rod 2113 is connected to the transmission unit and can rotate along a first preset plane under the drive of the transmission unit to connect to the mounting body 2200. The clamping mechanism includes a cylinder unit 2121 and a jaw 2122 connected to each other. The cylinder unit 2121 is installed on the bottom plate 210. The jaw 2122 can slide along a second preset plane under the drive of the cylinder unit 2121 to clamp the fitting 2200. Among them, the first preset plane and the second preset plane are perpendicular to each other.

[0051] It should be noted that the mechanical gripper 2100 can connect to the fitting 2200 through the button mechanism, and then clamp the fitting 2000 through the clamping mechanism. Among them, the button mechanism and the clamping mechanism can respectively limit the degrees of freedom of the fitting 2000 in different directions, thereby realizing the automatic loading of the fitting 2000 and ensuring the structural stability after loading.

[0052] In this embodiment, the transmission unit includes a push rod cylinder body 2111 and a push rod piston 2112. A gripper through hole 2101 is formed on the gripper bottom plate 210. The push rod cylinder body 2111 is installed in the gripper through hole 2101. The push rod piston 2112 is connected to both the push rod cylinder body 2111 and the button push rod 2113 and can slide along its own axis direction to drive the button push rod 2113 to rotate.

[0053] It should be noted that the push rod piston 2112 slides along its own axis direction, which can accurately control the rotation angle of the button push rod 2113, so as to ensure the accurate matching between the button part 21133 and the installation groove of the external load device, and improve the loading stability. At the same time, by driving the linear motion of the push rod piston 2112 through the push rod cylinder block 2111, the automatic rotation of the button push rod 2113 can be realized without additional manual operation, improving the automation degree of the loading process and being applicable to the intelligent management of the UAV hangar. In addition, the linear drive mode of the push rod cylinder block 2111 and the push rod piston 2112 reduces the energy loss compared with the complex rotating mechanism, and at the same time improves the response speed, making the mechanical gripper 2100 more efficient in the loading and towing process of the UAV external load device.

[0054] In this embodiment, the button push rod 2113 includes a transmission part 21131, a push rod body part 21132 and a button part 21133. A U-shaped groove 21134 adapted to the transmission unit is provided in the transmission part 21131. The push rod body part 21132 is a wedge-shaped structure, and the large-diameter end of the push rod body part 21132 is connected to the transmission part 21131, and the small-diameter end of the push rod body part 21132 is connected to the button part 21133. The outer contour of the button part 21133 is adapted to the installation groove (not shown in the figure) of the accessory 2000.

[0055] It can be understood that the U-shaped groove 21134 in the transmission part 21131 matches the transmission unit, enabling the movement of the push rod piston 2112 to more stably drive the rotation of the button push rod 2113, improving the transmission efficiency and reducing mechanical loss. At the same time, the push rod body part 21132 adopts a wedge-shaped structure. During the clamping process, with the action of the clamping force, the wedge-shaped structure can provide additional self-locking force, making the button part 21133 more firmly embedded in the installation groove of the accessory 2000, preventing the device from loosening due to vibration or impact, and improving the loading reliability. In addition, the outer contour of the button part 21133 is specially designed to match the installation groove of the accessory 2000, which can ensure that external load devices of different shapes and sizes can be accurately positioned and fixed, improving the adaptability and versatility of the gripper.

[0056] In this embodiment, a plurality of weight-reducing through holes 21135 are provided in the push rod body part 21132, and the plurality of weight-reducing through holes 21135 are evenly spaced along the length direction of the push rod body part 21132 on the push rod body part 21132.

[0057] It should be noted that by providing weight-reducing through holes 21135 in the push rod body portion 21132, the mass of the mechanical gripper 2100 can be effectively reduced, the equipment load can be lowered, and thus the operating efficiency of the automatic loading system in the UAV hangar can be improved. At the same time, the weight-reducing through holes 21135 are arranged at uniform intervals, which can optimize the force distribution while ensuring the structural strength, reduce local stress concentration, and lower the risk of material fatigue damage, thereby improving the durability and service life of the gripper.

[0058] In this embodiment, it further includes a lever fulcrum 2131 and a rotating cross bar 2132. The lever fulcrum 2131 is arranged at the end position of the gripper bottom plate 210. The rotating cross bar 2132 is passed through the lever fulcrum 2131. The push rod body portion 21132 further has a rotating through hole 21136. Through the rotating through hole 21136, the push rod body portion 21132 is sleeved on the rotating cross bar 2132.

[0059] It should be noted that by providing the rotating through hole 21136 in the push rod body portion 21132 and sleeving it on the rotating cross bar 2132, the push rod body portion 21132 can stably rotate around the rotating cross bar 2132 under the action of an external force, enabling the mechanical gripper 2100 to effectively grip and release the external load equipment at different angles and improving the operation flexibility.

[0060] In this embodiment, the button portion 21133 includes a button bottom plate 211331 and a button block. The button bottom plate 211331 is in an "L" shape, and the concave surface of the button bottom plate 211331 is connected to the small-diameter end of the push rod body portion 21132. The outer contour of the button block is adapted to the installation groove of the fitting 2000, and the button block is arranged on the outer surface of the button bottom plate 211331.

[0061] Optionally, the button block includes a button fixing block 211332 and a positioning block 211333 with elastic deformation ability. The positioning block 211333 is installed on the button fixing block 211332.

[0062] Specifically, the outer contour of the button block matches the installation groove of the fitting 2000, enabling the gripper to more precisely fit the external load equipment, ensuring stable clamping, and reducing the loading instability caused by dimensional errors. At the same time, the "L"-shaped button bottom plate 211331 structure provides a more reasonable force transmission path, enabling the button portion 21133 to evenly disperse the pressure when subjected to an external force, reducing single-point stress, and improving the durability of the mechanical gripper 2100. In addition, through the design of the positioning block 211333 with elastic deformation ability, the gripper can provide a certain buffering effect when grasping or releasing, reducing equipment damage caused by excessive impact force, and at the same time improving the smoothness of loading and releasing.

[0063] In this embodiment, the number of clamping mechanisms is two groups. The two clamping mechanisms are symmetrically arranged, and the two jaws 2122 can move towards each other under the drive of the clamping cylinder to move away from or close to each other. A number of pins 2123 are also installed on any one of the jaws 2122.

[0064] In this embodiment, the present application embodiment also provides an assembly component 2300, including: the mechanical gripper 2100 as in the previous embodiment, and a rotating mechanism 230 and a gantry mechanism. The rotating mechanism 230 is connected to the gripper bottom plate 210 and can drive the gripper bottom plate 210 to rotate; the gantry mechanism includes a gantry and a sliding unit 2313. The side of the rotating mechanism 230 facing away from the gripper bottom plate 210 is connected to the sliding unit 2313, and the sliding unit 2313 can drive the rotating mechanism 230 to slide along the gantry.

[0065] In this embodiment, the gantry includes a first shaft body 2311 and a second shaft body 2312 that are vertically arranged. The sliding unit 2313 is slidably arranged on the first shaft body 2311 and can move along the extension direction of the first shaft body 2311. The first shaft body 2311 is slidably arranged on the second shaft body 2312 and can move along the extension direction of the second shaft body 2312.

[0066] It should be noted that the rotating mechanism 230 can be composed of a servo motor and a harmonic reducer, which can drive the gripper bottom plate 210 to rotate. At the same time, the first shaft body 2311 and the second shaft body 2312 that form the gantry can enable the sliding unit 2313 to move in the X-axis and Y-axis directions of the horizontal plane, so as to ensure that the mechanical gripper 2100 can be accurately positioned at the mounting positions of different types of unmanned aerial vehicles through a multi-degree-of-freedom movement method, improving the compatibility and flexibility of the loading of unmanned aerial vehicle external load equipment. The sliding unit 2313 in this embodiment can be a slider.

[0067] The box body docking mechanism 3100 can include a carrier and a docking unit. The carrier includes a frame body 3101 and a bearing unit. The bearing unit can partition the frame body 3101 to form multiple bearing chambers 3103 that are spaced apart in the height direction. Any one of the bearing chambers 3103 is used for arranging box bodies. The docking unit includes a lifting module and a telescopic module. The telescopic module is arranged on the lifting module and can telescopically move in the horizontal direction to extend into or out of the bearing chamber 3103. The lifting module can move in the height direction to drive the telescopic module and make it correspond to different bearing chambers 3103.

[0068] It is worth noting that the box body docking mechanism 3100 can carry the box body through the carrier, and then the docking unit can extend into or out of different bearing chambers 3103 from different heights and directions to extract the box bodies placed at different heights. It has the advantages of simple structure and fast response speed.

[0069] In this embodiment, the lifting module includes a bottom plate 3111, a first servo motor 3112, a first lead screw 3113, a scissor lift link 3114 and a scissor lift platform 3115. The first servo motor 3112 and the first lead screw 3113 are both arranged on the bottom plate 3111, and the first servo motor 3112 is connected to the first lead screw 3113. One side of the scissor lift link 3114 is sleeved on the first lead screw 3113, and the other side is connected to the scissor lift platform 3115. Wherein, by the rotation of the first lead screw 3113, the scissor lift link 3114 can drive the scissor lift platform 3115 to move in the height direction.

[0070] It should be noted that the structure of the scissor lift link 3114 can provide a large supporting force, so that the scissor lift platform 3115 remains stable during the lifting process, avoiding shaking and improving the accuracy of box access and storage. At the same time, the scissor mechanism has good load-bearing capacity, can stably support boxes with a large weight, is suitable for multi-layer storage systems, and improves space utilization. In addition, the first lead screw 3113 is driven by a servo motor to achieve precise displacement control, so that the scissor lift platform 3115 can accurately dock with storage layers at different heights, reduce errors, and improve the reliability of box picking and placing.

[0071] In this embodiment, the telescoping module includes a cargo box carrier plate 3116, a second servo motor 3117, a second lead screw 3118 and a sliding plate 3119. The second servo motor 3117 and the second lead screw 3118 are both arranged on the scissor lift platform 3115, and the second servo motor 3117 is connected to the second lead screw 3118. The sliding plate 3119 is sleeved on the second lead screw 3118, and the cargo box carrier plate 3116 is installed on the sliding plate 3119. Wherein, by the rotation of the second lead screw 3118, the sliding plate 3119 can drive the cargo box carrier plate 3116 to move in the horizontal direction.

[0072] It should be understood that the scissor lift platform 3115 moves in the height direction to align the cargo box carrier plate 3116 with the target storage layer, ensuring that the storage of boxes at different levels can be adapted in the vertical direction. The sliding plate 3119 moves in the horizontal direction, enabling the cargo box carrier plate 3116 to push in or pull out the storage box to achieve the access operation. By controlling the lifting and telescoping movements separately, each action can be independently optimized without mutual interference, reducing system errors and improving the docking accuracy.

[0073] Optionally, the cargo box carrier plate 3116 includes a plate body 31161 and a limiting wing plate 31162. The plate body 31161 is a plate-like structure with through holes 31163, and a receiving groove 31164 is provided at the side position of the plate body 31161. The limiting wing plate 31162 is installed in the receiving groove 31164, and the extending direction of the limiting wing plate 31162 intersects with the plane where the plate body 31161 is located.

[0074] Specifically, the limiting wing plate 31162 can play a lateral limiting role, preventing the box from sliding or deflecting during horizontal movement, and improving the stability of the box during the pick-up and placement process. The angle design of the limiting wing plate 31162 provides a multi-directional clamping force to keep the cargo box stable on the load plate and prevent it from tilting during transportation or access. In addition, the through hole 31163 structure of the plate body 31161 can reduce the weight of the load plate while ensuring strength, reduce the load on the servo motor and the lead screw, and improve the system operation efficiency. The lightweight design reduces energy consumption and can improve the overall energy efficiency of the drone security hangar.

[0075] In this embodiment, the plate body 31161 includes a main body portion 31165 and an extension portion 31166, the width section of the main body portion 31165 is provided with a receiving groove 31164, the number of the extension portions 31166 is multiple, and the multiple extension portions 31166 all extend outward along the length section of the main body portion 31165, and there are at least two extension portions 31166 symmetrically arranged along the axial direction of the main body portion 31165, and a receiving groove 31164 is provided in any extension portion 31166.

[0076] It is worth noting that the symmetrically arranged extensions 31166 can provide a wider support surface, making the box more stable on the carrier plate and avoiding tilting or shaking due to insufficient local support. In addition, through the design of multiple extensions 31166, the carrier plate can adapt to boxes of different sizes without changing the overall structure, improving versatility and compatibility. The distribution optimization of the extensions 31166 can make the force more uniform and improve the overall stability of the system.

[0077] In this embodiment, the limiting wing plate 31162 includes a supporting portion 311621, a limiting portion 311622 and a wing portion 311623 which are connected in sequence, the connection between the supporting portion 311621 and the limiting portion 311622, and the connection between the limiting portion 311622 and the wing portion 311623 are both arc transitions, and the supporting portion 311621 is installed in the accommodating groove 31164, the limiting portion 311622 and the supporting portion 311621 are perpendicular to each other, the wing portion 311623 extends outward along the side of the limiting portion 311622 away from the supporting portion 311621, and the extension direction of the wing portion 311623 intersects with the plane where the plate body 31161 is located.

[0078] In this embodiment, the carrying unit includes a plurality of positioning plates 3102 , and the plurality of positioning plates 3102 are arranged on the inner circumference of the frame body 3101 , and any positioning plate 3102 includes a connecting portion and a positioning portion that are perpendicular to each other.

[0079] An embodiment of the present application further provides a splicing component, including the aforementioned box body splicing mechanism 3100, a box body, and a cable puller 321. The box body is arranged in the bearing chamber 3103; the cable puller 321 is connected to the box body and is used to connect to a drone.

[0080] In this embodiment, it further includes a fixing block 322. The fixing block 322 is fixedly connected to the box body, and the cable puller 321 is embedded between the two fixing blocks 322.

[0081] In this embodiment, the box body includes a square tube frame 3201 and a cover plate 3202. The cover plate 3202 covers the square tube frame 3201, and an installation groove for accommodating the cable puller 321 is opened on the cover plate 3202.

[0082] In this embodiment, the hatch assembly includes two sets of hatch units arranged oppositely. Any one hatch unit includes a hatch body and a rack transmission unit connected to each other. One of the hatch bodies can move in a direction away from or close to the other hatch body through the rack transmission unit to open or close the working chamber.

[0083] An embodiment of the present application further provides a method for assembling a drone, including the following steps: obtaining a work instruction, where the work instruction includes a parking instruction and a takeoff instruction; When responding to the work instruction being a parking instruction, controlling the hatch assembly to open, and obtaining the first position signal of the platform body in real time; Based on the first position signal, controlling the adjustment component to work to adjust the drone to the accessory loading and unloading station, and at the same time controlling the mechanical gripper to work to unload the accessories in the drone, and closing the hatch assembly; When responding to the work instruction being a takeoff instruction, Based on the takeoff instruction, grasping the corresponding target accessory through the mechanical gripper and assembling the target accessory on the drone; Controlling the hatch assembly to open, and the drone completes takeoff.

[0084] It should be noted that the work instruction can be an instruction brought by the position signal of the drone (for example, the drone is close to the computer room hangar and needs to park), or it can be an instruction received by the console (for example, the instruction for the drone to go on duty).

[0085] The above are only the preferred embodiments of the present application and are not used to limit the present application. For those skilled in the art, the present application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included within the protection scope of the present application.

Claims

1. A security hangar for parking drones and assembling accessories, characterized in that: include: The hangar body is enclosed to form a working chamber; a door assembly, arranged at one side of the hangar body and configured to close or open the working chamber; An adjustment platform, comprising a platform body and an adjustment assembly, wherein the platform body faces the opening end of the door assembly, and the adjustment assembly comprises a centering mechanism and a lever mechanism, wherein the centering mechanism is configured to adjust the position of the UAV, and the lever mechanism is used to adjust the orientation of the UAV; The assembly component includes at least a mechanical gripper and a gantry mechanism, wherein the gantry mechanism is located in the working chamber, the mechanical gripper is slidably disposed in the gantry mechanism, and is configured to complete the assembly of the drone and accessories, wherein the accessories include at least a thrower.

2. The security hangar according to claim 1, characterized in that: The centering mechanism includes a first centering unit and a second centering unit, wherein the first centering unit is slidably disposed on the platform body along a first preset direction, and the second centering unit is slidably disposed on the platform body along a second preset direction; the lever mechanism includes a lever and a driving unit, wherein the lever can rotate within a first preset plane driven by the driving unit; The first preset direction and the second preset direction are not parallel to each other, and neither the first preset direction nor the second preset direction is located in the first preset plane.

3. The security hangar according to claim 2, characterized in that: The lever mechanism also includes a correction base plate, which is installed on the platform body; the driving unit is an electric push rod, one end of which is connected to the correction base plate, and the other end is connected to the lever, one end of the lever is rotatably connected to the correction base plate, and the free end of the lever is used to correct the drone.

4. The security hangar according to claim 3, characterized in that: The shifting rod includes a shifting portion, a connecting portion and a rotating portion, wherein the connecting portion is a straight bar structure, the rotating portion is located in the middle of the connecting portion, and the rotating portion is connected to the electric push rod on the side away from the connecting portion; one end of the connecting portion is connected to the shifting base plate, and the other end is connected to the shifting portion, the shifting portion is "V"-shaped, and the opening of the shifting portion is away from the connecting portion.

5. The security hangar according to claim 1, characterized in that: The mechanical gripper includes a gripper base plate, a button mechanism and a clamping mechanism. The button mechanism includes a transmission unit and a button push rod. The transmission unit is installed on the gripper base plate. The button push rod is connected to the transmission unit and can rotate along a first preset plane driven by the transmission unit to connect the accessory; the clamping mechanism includes a connected cylinder unit and a clamping claw. The cylinder unit is installed on the gripper base plate. The clamping claw can slide along a second preset plane driven by the cylinder unit to clamp the accessory; wherein the first preset plane and the second preset plane are perpendicular to each other.

6. The security hangar according to claim 5, characterized in that: The button push rod includes a transmission part, a push rod body and a button part. The transmission part is provided with a U-shaped groove which is adapted to the transmission unit. The push rod body is a wedge-shaped structure, and the large diameter end of the push rod body is connected to the transmission part, and the small diameter end of the push rod body is connected to the button part. The outer contour of the button part is adapted to the mounting groove of the accessory.

7. The security hangar according to claim 1, characterized in that: The assembly component also includes a load-bearing frame and a docking unit, the accessory also includes a box, the load-bearing frame includes a frame and a load-bearing unit, the load-bearing unit can divide the frame into multiple layers of load-bearing chambers arranged at intervals along the height direction, and any of the load-bearing chambers is used to arrange the box; the docking unit includes a lifting module and a telescopic module, the telescopic module is arranged on the lifting module, and it can be telescoped in the horizontal direction to extend into or extend out of the load-bearing chamber, the lifting module can move in the height direction to drive the telescopic module and make it correspond to different load-bearing chambers.

8. The security hangar according to claim 7, characterized in that: The lifting module includes a base plate, a first servo motor, a first lead screw, a scissors-fork lifting link and a scissors-fork lifting platform, the first servo motor and the first lead screw are both arranged on the base plate, and the first servo motor is connected to the first lead screw, one side of the scissors-fork lifting link is sleeved on the first lead screw, and the other side is connected to the scissors-fork lifting platform; wherein, through the rotation of the first lead screw, the scissors-fork lifting link can drive the scissors-fork lifting platform to move along the height direction.

9. The security hangar according to claim 1, characterized in that: The door assembly includes two groups of door units arranged opposite to each other, and any of the door units includes a connected door body and a rack transmission unit. One of the door bodies can move in a direction away from or close to the other door body through the rack transmission unit to open or close the working chamber.

10. A method for assembling a drone, applied to the security hangar as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: Obtaining a work instruction, wherein the work instruction includes a parking instruction and a take-off instruction; In response to the working instruction being a parking instruction, Control the hatch assembly to open and obtain the first position signal of the platform body in real time; Based on the first position signal, the adjustment component is controlled to work so as to adjust the drone to the accessories loading and unloading position, and the mechanical gripper is controlled to work so as to remove the accessories in the drone, and the hatch component is closed; In response to the working instruction being a take-off instruction, Based on the take-off instruction, grasping the corresponding target accessory by a mechanical gripper, and assembling the target accessory on the drone; The control cabin door assembly opens and the drone completes takeoff.

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