Return mechanism and unmanned aerial vehicle nest

Abstract

According to the return mechanism and the unmanned aerial vehicle nest, the return mechanism comprises an abutting block, a sliding push rod set and a driving set, and the abutting block is located on a bearing platform; the sliding push rod set is located on the front side of the parking platform and independently arranged relative to the parking platform. The sliding push rod set comprises two push rods which are oppositely arranged. The driving set is located on the back side of the parking platform and can move along with the parking platform. The driving set can be matched with the abutting block in a limiting mode within the first stroke range to jointly control the two push rods in the sliding push rod set to move oppositely, so that when the driving set moves towards the abutting block, the two push rods are driven to move oppositely to the first position. And when the driving group is far away from the abutting block, the two push rods are driven to oppositely move to a second position. The unmanned aerial vehicle on the parking platform does not occupy extra time to align or unalign the unmanned aerial vehicle on the parking platform and is synchronously carried out with the action of the parking platform, so that the operation time is shortened, the use efficiency is improved, and the unmanned aerial vehicle parking platform is simple in structure, high in reliability and low in cost.

Description

Technical Field

[0001] The present invention belongs to the technical field related to unmanned aerial vehicles, and particularly relates to a returning mechanism and a drone nest. Background Art

[0002] Unmanned aerial vehicles have a wide range of application scenarios in fields such as power inspection, security monitoring, logistics distribution, and agricultural plant protection. Currently, the mainstream takeoff and landing mode of unmanned aerial vehicles adopts semi-automatic unmanned airport equipment, and a single drone nest is used to assist in the takeoff and parking of unmanned aerial vehicles. However, when the on-site working conditions require supporting the collaborative operation of multiple unmanned aerial vehicles (such as high-frequency and multi-aircraft rotation takeoff and landing), the following problems exist in a single unmanned airport equipment: high site requirements: multiple independent drone nests need to be deployed, occupying a large area; cost and efficiency issues: repeated equipment configuration leads to increased costs, and the scheduling efficiency of multiple aircraft is low; insufficient scalability: it is difficult to meet the requirements of high-frequency and high-concurrency operations. Therefore, the prior art has proposed a multi-aircraft collaborative drone nest to support the simultaneous parking and takeoff of multiple unmanned aerial vehicles.

[0003] In the related art, the operation process of the drone nest is that it is necessary to wait for the unmanned aerial vehicle to park well before returning and fixing it, and the unmanned aerial vehicle can take off only after the fixing is released, thus increasing the time for the takeoff and landing and storage of the unmanned aerial vehicle. This affects the use efficiency of the drone nest and reduces the user experience. Summary of the Invention

[0004] In view of this, it is necessary to provide a returning mechanism and a drone nest with short operation time and high efficiency.

[0005] A returning mechanism is applied to a drone nest. The drone nest includes a parking platform and a bearing platform. The parking platform can move relative to the bearing platform so that the unmanned aerial vehicle takes off or lands on the parking platform located on the bearing platform. The returning mechanism includes:

[0006] A collision block located on the bearing platform;

[0007] A sliding push rod group is located on the front side of the parking platform and is independently arranged relative to the parking platform. The sliding push rod group includes two push rods arranged oppositely;

[0008] A driving group is located on the back side of the parking platform and can move along with the parking platform. The driving group can be in limit cooperation with the collision block within a first stroke range to jointly control the relative movement of the two push rods in the sliding push rod group, so that when the driving group moves towards the collision block, the two push rods are driven to move away from each other to a first position; and when the driving group moves away from the collision block, the two push rods are driven to move towards each other to a second position.

[0009] It can be understood that, by using the stop block on the load-bearing platform and the limit position cooperation of the driving group on the parking platform within the first travel range, the parking platform can be returned to the center while moving in the first direction, and reset while moving in the opposite direction of the first direction; when the parking platform moves to the load-bearing platform, the two push rods are already in the first position away from each other, and the drone can be taken off or landed immediately. When the parking platform starts to leave the load-bearing platform, the two push rods start to approach each other until they reach the second position to return to the center and fix the drone; that is, the return to the center, fixation or release of the fixation does not take up extra time, and is synchronized with the action of the parking platform, thereby shortening the operation time and improving the use efficiency. In addition, the present application only uses the relative movement and mechanical limit of the stop block and the driving group to achieve synchronous return or reset action, with a simple structure, high reliability and low cost.

[0010] The driving group includes a driving rack, a driving gear and an elastic member, the driving rack is slidably connected to the parking platform in the moving direction of the parking platform and abuts against the elastic member, the driving gear is rotatably connected to the parking platform and meshes with the driving rack, and the driving gear is transmission-connected to the sliding push rod group, and is used to control the two push rods in the sliding push rod group to move away from each other or towards each other;

[0011] The abutment block is arranged on the moving path of the driving rack, and the abutment block can abut and limit the driving rack. The elastic member is located at the end of the driving rack away from the abutment block. The abutment block and the elastic member drive the driving rack to slide bidirectionally relative to the parking platform.

[0012] It can be understood that by utilizing the driving rack driven by the movement of the parking platform relative to the load-bearing platform, the control of the two push rods in the sliding push rod group to move toward or away from each other can be ultimately achieved, so that the return mechanism can be applied to the drone nest, and the locking and release of the drone on the parking platform can be completed by a purely mechanical structure. This not only simplifies the structure of the return mechanism and reduces the manufacturing cost, but also improves the reliability of the return mechanism when it is applied to the drone nest.

[0013] In one embodiment, the return mechanism further includes a transmission group, and the transmission group is arranged corresponding to the sliding push rod group;

[0014] Wherein, the transmission group includes a transmission gear and two transmission racks, the transmission gear is coaxially arranged with the driving gear and circumferentially limited with the driving gear, the two transmission racks correspond one-to-one with the two push rods in the corresponding sliding push rod group, and the transmission rack is transmission-connected with the corresponding push rods and meshes with the transmission rack.

[0015] In one embodiment, the transmission rack is connected to the corresponding push rod via a push rod bracket;

[0016] Wherein, the push rod bracket is arranged through the parking platform.

[0017] In one of the embodiments, the transmission gear is arranged on a side of the driving gear facing the parking platform, and the transmission gear is connected to the driving gear via a synchronization shaft.

[0018] In one embodiment, the transmission group further includes a rack fixing block, and the rack fixing block is used to be mounted on the parking platform;

[0019] The rack fixing block is arranged corresponding to the transmission rack, and the rack fixing block is slidably connected to the corresponding transmission rack, so as to limit the transmission rack to the transmission gear and make the transmission rack mesh with the transmission gear.

[0020] It can be understood that the use of the rack fixing block to guide the movement of the transmission rack can ensure the meshing cooperation between the transmission rack and the transmission gear, which can improve the stability of the driving gear's control over the movement of the two push rods in the sliding push rod group.

[0021] In one embodiment, two push rods in the sliding push rod group are arranged at the same height position of the parking platform.

[0022] In one of the embodiments, the number of the sliding push rod groups is configured to be multiple groups, and the multiple groups of sliding push rod groups are staggered in the vertical direction.

[0023] In one embodiment, the driving rack is connected to a rack slider, which is arranged on a side of the driving rack away from the driving gear and is used for sliding connection with a slide bar connected to the parking platform;

[0024] The driving rack can abut against the elastic member through the rack slider, and the elastic member is sleeved onto the slide bar.

[0025] It can be understood that the rack slider can guide the movement of the driving rack on the parking platform on the one hand, and can also realize the force transmission between the driving rack and the elastic member on the other hand, so that the rack slider can serve a dual purpose and simplify the structure.

[0026] In one of the embodiments, a push wheel is rotatably connected to a side surface of the driving rack facing away from the parking platform, and the driving rack can abut against the collision block through the push wheel, so that the driving rack abuts against the collision block to limit the position.

[0027] The present application also provides a drone nest, which includes a bearing platform, a parking platform, and the above-mentioned alignment mechanism. The parking platform can move relative to the bearing platform to enable the drone to take off or land on the parking platform located on the bearing platform.

[0028] The collision block is fixedly installed on the bearing platform, and the sliding push rod group and the driving group are both installed on the parking platform.

[0029] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0030] For the alignment mechanism and the drone nest claimed in the present application, by using the limit cooperation between the collision block on the bearing platform and the driving group on the parking platform within the first stroke range, the parking platform is aligned while moving in the first direction, and reset while moving in the direction opposite to the first direction. When the parking platform moves onto the bearing platform, the two push rods are already in the first position where they are away from each other, and the drone can take off or land immediately. When the parking platform starts to leave the bearing platform, the two push rods start to approach each other until they reach the second position to align and fix the drone. That is, the alignment and fixation or the release of fixation do not take extra time and are synchronized with the movement of the parking platform, thus shortening the operation time and improving the usage efficiency. Moreover, the present application realizes the synchronous alignment or reset action only by the relative movement and mechanical limit between the collision block and the driving group, with a simple structure, high reliability, and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a schematic structural diagram of the drone nest provided by the present application.

[0033] Figure 2 It is a schematic structural diagram when the bearing platform, the link assembly and the driving assembly in the present application are assembled.

[0034] Figure 3 It is a schematic structural diagram when the link assembly, the driving assembly and the assisting telescopic member in the present application are assembled.

[0035] Figure 4 It is a schematic structural diagram when the alignment mechanism in the present application is applied to the bearing platform and the parking platform.

[0036] Figure 5 is Figure 4 the enlarged view of part A in

[0037] Figure 6 is Figure 4 the enlarged view of part B in

[0038] Figure 7 is the structural schematic diagram of the parking platform in this application.

[0039] Figure 8 is the structural schematic diagram when the alignment mechanism in this application is applied to the bearing platform.

[0040] Figure 9 is Figure 8 the enlarged view of part C in

[0041] Figure 10 is the structural schematic diagram when the drive group in this application is applied to the parking platform.

[0042] Figure 11 is the structural schematic diagram when the lifting drive mechanism and the first transverse movement mechanism in this application are assembled on the main body of the machine nest.

[0043] Figure 12 is the partial structural schematic diagram of the lifting drive module in this application.

[0044] Figure 13 is the structural schematic diagram when the lifting guide rail, roller, needle bearing and clamping member in this application are assembled.

[0045] Figure 14 is the structural schematic diagram of the first transverse movement mechanism in this application.

[0046] Figure 15 is the structural schematic diagram of the first transverse movement mechanism from another perspective in this application.

[0047] Reference numerals: 100, unmanned aerial vehicle machine nest; 10, main body of the machine nest; 110, parking garage; 111, parking platform; 1111, slide bar; 1112, fixed seat; 1113, chute; 11, main body frame; 1101, lifting track; 12, bearing platform; 121, first roller; 1211, support plate; 122, fixed mounting seat; 13, link assembly; 131, power rod; 132, first pull rod; 133, second pull rod; 134, third pull rod; 14, drive assembly; 141, rotary drive member; 142, first speed reducer; 143, drive link; 1431, bearing seat; 15, auxiliary telescopic member;

[0048] 20. Return-to-center mechanism; 21. Sliding push rod group; 211. Push rod; 212. Push rod bracket; 2121. Bent plate; 22. Driving group; 221. Driving rack; 2211. Rack slider; 2212. Pushing wheel; 222. Driving gear; 223. Elastic member; 23. Impact block; 24. Transmission group; 241. Transmission gear; 242. Transmission rack; 243. Synchronous shaft; 244. Rack fixing block;

[0049] 30. Lifting drive mechanism; 301. Parallel shaft reducer; 302. Second reducer; 31. First rotary drive member; 32. Drive shaft; 33. Lifting drive module; 331. Transmission shaft; 332. Transmission wheel; 333. Driving wheel; 334. Transmission member; 3341. First transmission group; 3342. Second transmission group; 335. Lifting guide rail; 3351. Clamping member; 33511. Card slot; 336. Second roller; 337. Needle roller bearing;

[0050] 40. First transverse movement mechanism; 41. Transverse movement drive assembly; 411. Second rotary drive member; 412. Transverse movement reducer; 413. Connecting shaft; 42. Clamping assembly; 421. Module slide table; 422. Friction wheel group; 4221. Friction wheel; 4222. Third rotary drive member; 4223. Installation frame body; 4224. Synchronous belt; 4225. Synchronous belt pulley;

[0051] 50. Second transverse movement mechanism. Detailed implementation manners

[0052] 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 fall within the protection scope of the present invention.

[0053] It should be noted that when an element is referred to as being "provided on" another element, it can be directly provided on the other element or there may also be an intermediate element. When an element is considered to be "provided on" another element, it can be directly provided on the other element or there may be an intermediate element at the same time. When an element is considered to be "fixed to" another element, it can be directly fixed to the other element or there may be an intermediate element at the same time.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this invention belongs. The terms used in the description of this invention are for the purpose of describing specific embodiments only and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the related listed items.

[0055] As Figure 1 shown, the return mechanism provided by this application is applied to the drone nest 100. In one embodiment, the drone nest 100 includes a nest unit, and the nest unit includes a nest main body 10, a return mechanism 20, a lifting drive mechanism 30, and a first transverse movement mechanism 40. The nest main body 10 includes two hangars 110, and the two hangars 110 are arranged in parallel along the first direction X. Among them, each hangar 110 includes a bearing platform 12 and a plurality of parking platforms 111, and the bearing platform 12 can be selectively communicated with the plurality of parking platforms 111; and, the parking platform 111 communicated with the bearing platform 12 can move relative to the bearing platform 12 so that a drone (not shown in the figure) can take off and land on the parking platform 111 located on the bearing platform 12; the return mechanism 20 is correspondingly arranged with the parking platform 111, and the return mechanism 20 is at least partially installed on the corresponding parking platform 111 for controlling the locking / unlocking of the drone on the parking platform 111; the lifting drive mechanism 30 is installed on the nest main body 10 for driving the parking platforms 111 in the two hangars 110 to lift, and, the moving directions of the parking platforms 111 in the two hangars 110 are arranged in opposite directions; the first transverse movement mechanism 40 is installed between the two hangars 110 for clamping and driving the parking platform 111 to move in the first direction X so that the parking platform 111 can flow between the two hangars 110. Here, the number of nest units is configured to be one, that is, the drone nest 100 is assembled by two hangars 110, so that the drone nest is a multi-layer structure, and two drones can be stored on each layer. It should be noted that for those skilled in the art, the number of nest units in the drone nest 100 can also be two, three, or even more, which can be specifically set according to the usage requirements and will not be elaborated here.

[0056] As can be seen from the above, in the drone nest 100 of this application, the return mechanism 20 is used to control the locking / unlocking of the drone on the parking platform 111, and then the lifting drive mechanism 30 and the first transverse movement mechanism 40 are used to realize the flow of the parking platform 111 between the two hangars 110 of the nest unit, so that the nest unit can realize the coordinated scheduling of two drones. This can not only improve the overall operation efficiency of the drone nest 100, but also reduce the site requirements during the on-site installation of the drone nest 100 and reduce the equipment manufacturing cost of the drone nest 100.

[0057] As Figure 1 shown, in one embodiment, two loading platforms 12 in the nest unit are arranged at the diagonal positions on the opposite sides of the nest body in the first direction, so that the nest unit can simultaneously realize the take-off and landing operations of two unmanned aerial vehicles without interference from each other, thereby improving the overall operation efficiency of the unmanned aerial vehicle nest 100. Here, the two loading platforms 12 are arranged at the diagonal positions on the opposite sides of the nest body in the first direction, specifically, the two loading platforms 12 are arranged on both sides of the nest body in the first direction, and the two loading platforms 12 are arranged at both ends of the nest body 10 in the vertical direction, that is, one of the loading platforms 12 communicates with the parking platform 111 at the top position of the corresponding hangar 110, and the other loading platform 12 communicates with the parking platform 111 at the bottom position of the corresponding hangar 110.

[0058] As Figure 2 shown, in one embodiment, at least three first rollers 121 are rotatably connected to the loading platform 12, and the loading platform 12 can carry the parking platform 111 through at least three first rollers 121; among them, two of the at least three first rollers 121 are arranged at the two end positions of the loading platform 12 in the first direction. The loading platform 12 can carry the parking platform 111 through the first rollers 121. By using the structural characteristics of the first rollers 121, the friction formed between the parking platform 111 and the loading platform 12 when the parking platform 111 moves in the first direction X is rolling friction, so as to reduce the frictional resistance suffered by the parking platform 111 when moving on the loading platform 12, so as to facilitate the movement of the parking platform 111 relative to the loading platform 12. Here, the number of the first rollers 121 is configured to be four, and the four first rollers 121 are installed on the loading platform 12 through the support plate 1211, that is, the support plate 1211 and the four first rollers 121 form a whole for easy assembly on the loading platform 12. It can be understood that in other embodiments, the number of the first rollers 121 can also be five, six, seven, or even more, which will not be elaborated here.

[0059] As Figures 1 to 3As shown, in one embodiment, the hangar 110 also includes a main frame 11, a connecting rod assembly 13 and a driving assembly 14, the connecting rod assembly 13 is respectively connected to the driving assembly 14 and the carrying platform 12, and the connecting rod assembly 13 can control the expansion / contraction of the carrying platform 12 on the main frame 11 under the drive of the driving assembly 14. In other words, the hangar 110 can form a carrying platform 12 for drone takeoff operations in a movable manner, so that the carrying platform 12 can be retracted to the main frame 11 of the hangar 110 when not in use, and can be used as a part of the casing of the hangar 110, which can save space and improve the flexibility of the use of the carrying platform 12. Here, the carrying platform 12 can be assembled using aluminum profile angle brackets of different lengths.

[0060] like Figure 2 , Figure 3 As shown, in this embodiment, the connecting rod assembly 13 includes a power rod 131 and a first pull rod 132, one end of the power rod 131 is transmission-connected to the driving assembly 14, and the other end of the power rod 131 is hinged to one end of the first pull rod 132; the other end of the first pull rod 132 is hinged to the carrying platform 12. The power rod 131 can realize the rotation control of the carrying platform 12 through the first pull rod 132 under the drive of the driving assembly 14. Here, the first pull rod 132 can be hinged to the carrying platform 12 through the fixed mounting seat 122.

[0061] like Figure 2 , Figure 3 As shown, in this embodiment, the connecting rod assembly 13 also includes a second tie rod 133 and a third tie rod 134, and the second tie rod 133 is staggered and hinged with the power rod 131, wherein one end of the second tie rod 133 is hinged to the load-bearing platform 12, and the other end of the second tie rod 133 is hinged to one end of the third tie rod 134; the other end of the third tie rod 134 is hinged to the main frame 11. In other words, when the connecting rod assembly 13 of this embodiment is in motion, a power rod 131 can control the movement of the load-bearing platform 12 through the first tie rod 132 and the second tie rod 133, so that on the one hand, the load-bearing platform 12 can be moved away from the main frame 11 by a certain distance after being unfolded, thereby reducing the overall size of the load-bearing platform 12, and on the other hand, sufficient support can be provided to the unfolded load-bearing platform 12 to meet the load-bearing requirement of the load-bearing platform 12 on the parking platform 111 where the drone is parked. Here, the second tie rod 133 can also be hinged to the bearing platform 12 through the fixed mounting seat 122, wherein the hinge node between the second tie rod 133 and the power rod 131 is set at the middle position of the second tie rod 133 and the power rod 131. It can be understood that in other embodiments, the hinge node between the second tie rod 133 and the power rod 131 can also be set at other positions of the second tie rod 133 and the power rod 131, which will not be elaborated here.

[0062] like Figure 2 , Figure 3 As shown, in this embodiment, the driving assembly 14 includes a rotating driving member 141, a first reducer 142 and two driving connecting rods 143, the two driving connecting rods 143 are arranged on both sides of the first reducer 142 in the second direction, and the two driving connecting rods 143 are respectively connected to the rotating driving member 141 through the first reducer 142; the two driving connecting rods 143 correspond to the two groups of connecting rod assemblies 13 one by one, and the end of the driving connecting rod 143 away from the first reducer 142 is connected to the corresponding connecting rod assembly 13. In other words, the driving assembly 14 of this embodiment can realize the synchronous driving of the two groups of connecting rod assemblies 13 with one rotating driving member 141. Here, the rotating driving member 141 is configured as a motor, and the ends of the two driving connecting rods 143 that are connected to the corresponding two groups of connecting rod assemblies 13 can be rotatably mounted to the main frame 11 through the bearing seat 1431, so that the driving assembly 14 can be assembled on the main frame 11. It is understandable that in other embodiments, the rotary drive member 141 may also be configured as a rotary cylinder, or other mechanical structures that can provide a rotary drive force, which will not be elaborated herein.

[0063] like Figure 1 , Figure 3 As shown, in one embodiment, the hangar 110 further includes an auxiliary telescopic member 15, which is respectively hinged to the power rod 131 and the main frame 11, and is used to provide assistance for the rotation of the power rod 131; the auxiliary telescopic member 15 is controlled by the driving assembly 14. In other words, in this embodiment, the auxiliary telescopic member 15 can assist the rotation of the power rod 131 according to the needs of the driving assembly 14, so that the load required by the driving assembly 14 to drive the power rod 131 to rotate can be reduced. Here, the hinge node when the auxiliary telescopic member 15 is hinged to the power rod 131 is set at the position between the two hinge nodes when the power rod 131 is respectively hinged to the first pull rod 132 and the second pull rod 133.

[0064] Specifically, the auxiliary telescopic member 15 can be a gas spring that passively outputs power, or a telescopic member such as a cylinder that actively outputs power. The rotary drive member 141 in the drive assembly 14 can control the output power of the auxiliary telescopic member 15, so that the auxiliary telescopic member 15 cooperates with the drive assembly 14 to accurately complete the unfolding of the carrying platform 12 to a horizontal position to form an entrance and exit for the take-off and landing of the drone (not shown), or to retract to the main frame 11 of the hangar 110 to serve as a part of the housing of the hangar 110. For example, the auxiliary telescopic member 15 uses an electric push rod, and the rotary drive member 141 uses a motor to directly control the action of the electric push rod.

[0065] like Figure 2 , Figure 3As shown, in this embodiment, the number of connecting rod assemblies 13 is configured as two groups, and the two groups of connecting rod assemblies 13 are arranged on both sides of the load-bearing platform 12 along the second direction Y; the driving assembly 14 is respectively connected to the two groups of connecting rod assemblies 13 in transmission. That is to say, the hangar 110 of this embodiment uses one driving assembly 14 to simultaneously control the movement control of the load-bearing platform 12 by the two groups of connecting rod assemblies 13, which can not only ensure the consistency of the movements of the two groups of connecting rod assemblies 13, but also improve the stability of the movement of the load-bearing platform 12. Here, the number of auxiliary telescopic members 15 is also two, each auxiliary telescopic member 15 corresponds to the two groups of connecting rod assemblies 13 one by one, and the auxiliary telescopic member 15 is hinged to the power rod 131 in the corresponding connecting rod assembly 13.

[0066] like Figure 4 , Figure 5 , Figure 8 and Figure 9 As shown, in one embodiment, the return mechanism 20 includes a collision block 23, a sliding push rod group 21 and a driving group 22, the collision block 23 is located on the supporting platform 12; the sliding push rod group 21 is located on the front side of the parking platform 111 and is independently arranged relative to the parking platform 111, and the sliding push rod group 21 includes two push rods 211 arranged opposite to each other; the driving group 22 is located on the back side of the parking platform 111 and can move with the parking platform 111; the driving group 22 can cooperate with the collision block 23 in a limited position within the first stroke range, and jointly control the two push rods 211 in the sliding push rod group 21 to move relative to each other, so that when the driving group 22 moves toward the collision block 23, the two push rods 211 are driven to move away from each other to the first position; and when the driving group 22 moves away from the collision block 23, the two push rods 211 are driven to move toward each other to the second position. Here, when the two push rods 211 move away from each other to the first position, the space between the two push rods 211 can be used for the take-off or landing of the UAV on the parking platform 111; when the two push rods 211 move toward each other to the second position, the two push rods 211 can return to the center and lock the UAV on the parking platform 111. It should be noted that the front side of the parking platform 111 is the side of the parking platform 111 that carries the UAV, and the back side of the parking platform 111 is the side of the parking platform 111 that faces the carrying platform 12.

[0067] As can be seen from the above, the return mechanism 20 of this embodiment utilizes the limit cooperation between the collision block 23 on the bearing platform 12 and the drive group 22 on the parking platform 111 within the first stroke range to achieve the return of the parking platform 111 while moving in the first direction away from the bearing platform 12, and the reset while moving in the direction close to the bearing platform 12, that is, the direction opposite to the first direction; then when the parking platform 111 moves onto the bearing platform 12, the two push rods 211 are already in the first position where they are away from each other, and the UAV can be immediately taken off or landed. When the parking platform 111 starts to leave the bearing platform 12, the two push rods 211 start to approach each other until they reach the second position to return and fix the UAV; that is, the return and fixation or the release of fixation do not occupy extra time and are synchronized with the movement of the parking platform 111, thus shortening the operation time and improving the usage efficiency. And this application only utilizes the relative movement and mechanical limit between the collision block 23 and the drive group 22 to achieve synchronous return or reset actions, with a simple structure, high reliability, and low cost. The return mechanism 20 of this application can be applied to any UAV nest 100 with a relatively movable parking platform 111 and bearing platform 12, without restricting the movement direction or the number of UAVs that can be parked in the UAV nest 100. The provided UAV nest 100 is only a specific implementation manner.

[0068] It can be understood that the first stroke range is the stroke range where the drive group 22 and the collision block 23 have limit cooperation. When the drive group 22 and the collision block 23 approach each other until they cannot move, that is, they reach the starting end of the first stroke, at this time the parking platform 111 stops on the bearing platform 12; when the drive group 22 and the collision block 23 move away from the starting end of the first stroke to the first stroke distance, that is, they reach the ending end of the first stroke, at this time the parking platform 111 is at a distance of the first stroke distance from the position where it stops on the bearing platform 12; then if the parking platform 111 continues to move away, that is, it exceeds the first stroke range, it is no longer restricted by the interference of the collision block 23. At the starting end of the first stroke, the two push rods 211 are in the first position where they are away from each other, and at the ending end of the first stroke, the two push rods 211 are in the second position where they are close to each other. If the parking platform 111 continues to move away, due to the lack of the interference of the collision block 23, the two push rods 211 will always be in the second position.

[0069] Such as Figure 4 、 Figure 5 、 Figure 8 and Figure 9As shown, in one embodiment, the driving group 22 includes a driving rack 221, a driving gear 222, and an elastic member 223. The driving rack 221 is slidably connected to the parking platform 111 in the first direction X and abuts against the elastic member 223. The driving gear 222 is rotatably connected to the parking platform 111 and meshes with the driving rack 221. Moreover, the driving gear 222 is drivingly connected to the sliding push rod group 21 for controlling the two push rods 211 in the sliding push rod group 21 to move away from each other or towards each other. Correspondingly, the collision block 23 is disposed on the moving path of the driving rack 221, and the collision block 23 can abut against and limit the driving rack 221. The elastic member 223 is located at one end of the driving rack 221 away from the collision block 23. The collision block 23 and the elastic member 223 drive the driving rack 221 to perform bidirectional sliding relative to the parking platform 111.

[0070] It can be understood that by utilizing the driving of the driving rack 221 when the parking platform 111 moves relative to the carrying platform 12, the control of the two push rods 211 in the sliding push rod group 21 moving towards each other or away from each other is ultimately realized. When the alignment mechanism 20 is applied to the drone nest 100, the locking and releasing of the drone on the parking platform 111 can be completed through a pure mechanical structure. This not only simplifies the structure of the alignment mechanism 20 and reduces the manufacturing cost, but also improves the reliability of the alignment mechanism 20 when it works in the drone nest 100. Among them, by respectively disposing the elastic member 223 and the collision block 23 on both sides of the driving rack 221, the sliding of the driving rack 221 can be automatically driven from two directions, thereby controlling the bidirectional rotation of the driving gear 222 and realizing the bidirectional movement of the two push rods 211. The sliding stroke of the driving rack 221 must cover the first stroke range, so that the two push rods 211 can move towards each other to the second position and move away from each other to the first position.

[0071] It should be noted that when the parking platform 111 moves from the main frame 11 to the loading platform 12 along the first direction X, the parking platform 111 will drive the driving rack 221 to collide with the collision block 23 on the loading platform 12. Since the collision block 23 is fixed to the loading platform 12 and remains stationary, using the action and reaction forces, the collision block 23 will push the driving rack 221 to slide on the parking platform 111 in the reverse direction, driving the driving gear 222 to rotate on the parking platform 111. Then, the driving gear 222 is used to control the two push rods 211 in the sliding push rod group 21 to move away from each other, so as to release the locking of the two push rods 211 on the unmanned aerial vehicle on the parking platform 111. During this process, the driving rack 221 compresses the elastic member 223 and stores energy in the elastic member 223. When the parking platform 111 on the loading platform 12 moves back into the main frame 11, with the movement of the parking platform 111, the driving rack 221 on the parking platform 111 will gradually disengage from the collision block 23 and release the limit on the elastic member 223. In this way, the driving rack 221 can slide in the reverse direction on the parking platform 111 under the pushing of the elastic member 223 to realize the reverse rotation of the driving gear 222 on the parking platform 111. Then, the driving gear 222 is used to control the two push rods 211 in the sliding push rod group 21 to move towards each other, and the two push rods 211 are used to lock the unmanned aerial vehicle on the parking platform 111.

[0072] As Figure 7 shown, in an embodiment, the two push rods 211 in the sliding push rod group 21 are arranged at the same height position on the parking platform 111. In this way, when the two push rods 211 move towards each other, they can clamp and fix the parts of the same height of the supporting feet on the unmanned aerial vehicle, so as to realize the locking of the unmanned aerial vehicle on the parking platform 111.

[0073] As Figure 6 、 Figure 7 shown, in this embodiment, the number of the sliding push rod groups 21 is configured as multiple groups, and the multiple groups of sliding push rod groups 21 are arranged in a staggered manner in the vertical direction, so that the movement of the push rods 211 in the multiple groups of sliding push rod groups 21 does not interfere with each other. Here, the number of the sliding push rod groups 21 is configured as two groups, and the four push rods 211 in the two groups of sliding push rod groups 21 are in a square shape. In this way, when the two groups of sliding push rod groups 21 lock the unmanned aerial vehicle on the parking platform 111, they can realize the straightening of the position of the unmanned aerial vehicle on the parking platform 111 and ensure the accuracy of the position when the unmanned aerial vehicle docks on the parking platform 111, so as to meet the use requirements of the parking platform 111 carrying the unmanned aerial vehicle to flow between the two parking garages 110. It can be understood that in other embodiments, the number of the sliding push rod groups 21 can also be three groups, four groups, or even more groups. Correspondingly, the six push rods 211 in the three groups of sliding push rod groups 21 enclose a hexagonal structure, and the eight push rods 211 in the four groups of sliding push rod groups 21 enclose an octagonal structure, which will not be elaborated here.

[0074] As Figure 5 , Figure 9 and Figure 10 shown, in one embodiment, a rack slider 2211 is connected to the driving rack 221. The rack slider 2211 is disposed on a side of the driving rack 221 away from the driving gear 222, and the driving rack 221 is slidably connected to a slide bar 1111 on the stop platform 111 through the rack slider 2211. Moreover, an elastic member 223 is sleeved on the slide bar 1111, and the driving rack 221 can abut against the elastic member 223 through the rack slider 2211. That is to say, on the one hand, the rack slider 2211 on the driving rack 221 can guide the movement of the driving rack 221 on the stop platform 111, and on the other hand, it can also realize the force transmission between the driving rack 221 and the elastic member 223, so that the rack slider 2211 can serve two purposes and play a role in simplifying the structure. Here, the rack slider 2211 is vertically disposed on the driving rack 221 and is integrally connected to the driving rack 221. It should be noted that the other end of the elastic member 223 away from the rack slider 2211 abuts against a fixed seat 1112 of the stop platform 111, wherein the two ends of the slide bar 1111 can be respectively installed on the bearing platform 12 through the fixed seat 1112.

[0075] As Figure 10 shown, in this embodiment, the number of the rack sliders 2211 is configured to be two, and the number of the slide bars 1111 is configured to be two. The two rack sliders 2211 are respectively slidably connected to the two slide bars 1111, so that a redundant design can be made for the sliding of the driving rack 221 on the stop platform 111 to ensure the stability of the driving rack 221 sliding on the stop platform 111.

[0076] As Figure 5 , Figure 10 shown, in this embodiment, the number of the elastic members 223 is also two. The two elastic members 223 correspond to the two slide bars 1111 one by one, and the elastic members 223 are sleeved on the corresponding slide bars 1111, so that the two elastic members 223 can provide sufficient elastic force for the movement of the driving rack 221. Here, the elastic member 223 is configured as a spring. It can be understood that in other embodiments, the elastic member 223 can also be configured as a rubber sleeve or other fittings capable of providing high elasticity, which will not be elaborated here.

[0077] As Figure 5 , Figures 8 to 10As shown, in one embodiment, a push wheel 2212 is rotatably connected to a side surface of the driving rack 221 facing away from the stop platform 111, and the driving rack 221 can abut against the collision block 23 through the push wheel 2212, so that the driving rack 221 is in contact with and limited by the collision block 23. That is to say, when the driving rack 221 of this embodiment moves in the first direction, there is a positional interference between the push wheel 2212 on the driving rack 221 and the collision block 23 on the carrying platform 12, and the use requirement that the driving rack 221 is in contact with and limited by the collision block 23 is satisfied.

[0078] As Figure 5 , Figure 8 shown, in one embodiment, the return mechanism 20 further includes a transmission group 24, and the transmission group 24 is correspondingly arranged with the sliding push rod group 21; wherein, the transmission group 24 includes a transmission gear 241 and two transmission racks 242. The transmission gear 241 is coaxially arranged with the driving gear 222 and circumferentially limited with the driving gear 222. The two transmission racks 242 correspond one by one to the two push rods 211 in the corresponding sliding push rod group 21, and the transmission rack 242 is in transmission connection with the corresponding push rod 211 and meshes with the transmission rack 242. That is to say, in the return mechanism 20 of this embodiment, when the driving gear 222 rotates, the rotation of the transmission gear 241 can be realized, and the sliding of the corresponding push rod 211 on the stop platform 111 is realized by using the meshing cooperation between the transmission gear 241 and the transmission rack 242.

[0079] As Figure 7 , Figure 9 shown, in this embodiment, the transmission rack 242 is connected to the corresponding push rod 211 through a push rod bracket 212; wherein, the push rod bracket 212 penetrates through the stop platform 111. Here, a chute 1113 for the push rod bracket 212 to pass through is opened on the stop platform 111, and the push rod bracket 212 can penetrate through the stop platform 111 through the chute 1113, so that the transmission rack 242 can drive the corresponding push rod 211 to slide along the extension direction of the chute 1113 through the push rod bracket 212. It should be noted that the push rod bracket 212 of the present application has two bending plates 2121, and the push rod bracket 212 can carry the corresponding push rod 211 through the two bending plates 2121.

[0080] As Figure 8 , Figure 9 shown, in this embodiment, the transmission gear 241 is arranged on the side of the driving gear 222 facing the stop platform 111, and the transmission gear 241 is in transmission connection with the driving gear 222 through a synchronizing shaft 243. So that the driving gear 222 can drive the transmission gear 241 to rotate synchronously through the synchronizing shaft 243. Here, the synchronizing shaft 243 is circumferentially limited to the transmission gear 241 and the driving gear 222 respectively in a keyway fitting manner.

[0081] As Figure 5 shown, in this embodiment, the transmission group 24 further includes a rack fixing block 244, and the rack fixing block 244 is installed on the parking platform 111; moreover, the rack fixing block 244 is correspondingly arranged with the transmission rack 242, and the rack fixing block 244 is slidably connected to the corresponding transmission rack 242, and is used for limiting the transmission rack 242 to the transmission gear 241 and enabling the transmission rack 242 and the transmission gear 241 to be in meshing cooperation. That is to say, the transmission group 24 in this embodiment can use the rack fixing block 244 to constrain the movement of the transmission rack 242 to ensure the meshing cooperation between the transmission rack 242 and the transmission gear 241, so as to improve the stability of the driving gear 222 in controlling the movement of the two push rods 211 in the sliding push rod group 21.

[0082] As Figure 11 、 Figure 12 shown, in an embodiment, the lifting drive mechanism 30 in the UAV nest 100 includes a first rotary drive member 31, a drive shaft 32 and two lifting drive modules 33. The first rotary drive member 31 is in transmission connection with the two lifting drive modules 33 respectively through the drive shaft 32. The two lifting drive modules 33 correspond to the two parking garages 110 one by one. The lifting drive module 33 is arranged at the position of the corresponding parking garage 110 and is used for carrying a plurality of parking platforms 111 in the parking garage 110 and driving the plurality of parking platforms 111 to rise or fall synchronously in the parking garage 110. That is to say, the lifting drive mechanism 30 in this embodiment uses one first rotary drive member 31 to simultaneously control the lifting of the parking platforms 111 in the two parking garages 110 by the two lifting drive modules 33, so as to ensure the consistency of the moving strokes when the parking platforms 111 in the two parking garages 110 are lifted, so that the stopping of each layer of the parking platforms 111 in this nest unit does not require secondary centering, which simplifies the supporting structure required for the lifting of the parking platforms 111 in this nest unit and has the effect of reducing the manufacturing cost.

[0083] As Figure 12As shown, in one embodiment, the first rotary drive member 31 is connected to the drive shaft 32 by a parallel shaft reducer 301, so that when the first rotary drive member 31 is started, the parallel shaft reducer 301 can be used to realize the rotation drive of the drive shaft 32. Here, the drive shaft 32 extends along the second direction Y, and the drive shaft 32 runs through the parallel shaft reducer 301, then the output shaft of the first rotary drive member 31 arranged in parallel also extends along the second direction Y, so that no additional space in the first direction X is occupied, thereby compactly arranging multiple parking hangars 110 to reduce the overall volume. Of course, in other embodiments, other types of reducers can also be used. Here, the first rotary drive member 31 is configured as a motor. It can be understood that in other embodiments, the above-mentioned first rotary drive member 31 can also be configured as a rotary cylinder or other mechanical transmission structure that can provide rotary power, which will not be elaborated here.

[0084] like Figure 12 As shown, in one embodiment, the lifting drive module 33 includes a transmission wheel 332 and at least two transmission shafts 331, and the at least two transmission shafts 331 and the transmission wheel 332 are arranged at both ends of the corresponding parking hangar 110 in the vertical direction; at least two transmission shafts 331 are arranged on two opposite sides of the parking hangar 110 in the second direction Y, and are respectively connected to the driving shaft 32 in transmission connection; each transmission shaft 331 is connected to a driving wheel 333 in a circumferentially limited manner, and the driving wheel 333 is correspondingly arranged to the transmission wheel 332, and the driving wheel 333 is connected to the corresponding transmission wheel 332 in transmission connection through a transmission member 334; and a plurality of transmission members 334 cooperate with each other to carry a plurality of parking platforms 111 in the parking hangar 110. That is to say, when the lifting drive module 33 is working, the transmission shaft 331 is used to drive the rotation of the driving wheel 333 to realize the transmission of the conveying member 334 in the vertical direction, and the conveying member 334 is used to drive the multiple parking platforms 111 in the parking hangar 110 to rise or fall synchronously; in this process, multiple conveying members 334 located on both sides of the second direction Y of the parking hangar 110 are used to carry the parking platform 111, which can improve the stability of the lifting movement of the parking platform 111. Here, the number of transmission shafts 331 is configured as two. It can be understood that in other embodiments, the number of transmission shafts 331 can also be configured as three, four, or even more, which will not be elaborated here.

[0085] It should be noted that the driving wheel 333, the transmission wheel 332 and the transmission member 334 together constitute a transmission assembly for transmitting the parking platform 111 in the vertical direction. In the present application, the transmission assembly can be a sprocket chain assembly. It can be understood that in other embodiments, the transmission assembly can also be a synchronous belt assembly, which will not be elaborated here.

[0086] likeFigure 12 As shown, in this embodiment, two transmission shafts 331 correspond to the two ends (not shown in the figure) of the drive shaft 32 one by one, and the corresponding ends between the transmission shaft 331 and the drive shaft 32 are drivingly connected through a second speed reducer 302. That is to say, when the lifting drive mechanism 30 of this embodiment works, the first rotary drive member 31 can simultaneously drive the four transmission shafts 331 to rotate through the drive shaft 32.

[0087] As Figure 12 shown, in this embodiment, the transmission shaft 331 extends along the first direction X, and two drive wheels 333 are respectively connected to each transmission shaft 331, so that the lifting drive module 33 can use four transmission members 334 to carry the parking platform 111 to provide the stability of the movement when the parking platform 111 is lifted. It can be understood that the number of drive wheels 333 connected to each transmission shaft 331 can also be three, four, or even more, which will not be elaborated here.

[0088] As Figure 11 shown, in this embodiment, multiple transmission members 334 in each lifting drive module 33 are combined to form a first transmission group 3341 and a second transmission group 3342; two lifting guide rails 335 at the same height position on the inner sides of the first transmission group 3341 and the second transmission group 3342 cooperate with each other to carry the parking platform 111. That is to say, the lifting drive module 33 can use two lifting guide rails 335 on both sides of the parking platform 111 in the second direction Y to carry the parking platform 111, so as to improve the stability of the lifting movement of the parking platform 111.

[0089] As Figure 13 shown, in an embodiment, at least a plurality of second rollers 336 are rotatably connected to the lifting guide rail 335, and the lifting guide rail 335 can carry the parking platform 111 through at least three second rollers 336; among them, two of the at least three second rollers 336 are arranged at the two end positions of the lifting guide rail 335 in the first direction X. So that the friction formed between the parking platform 111 and the lifting guide rail 335 when the parking platform 111 moves in the first direction X is rolling friction, which can reduce the frictional resistance when the parking platform 111 moves on the lifting guide rail 335, so as to facilitate the movement drive of the first lateral movement mechanism 40 for the parking platform 111. Here, the number of the second rollers 336 is configured to be five, and the five second rollers 336 can be arranged on the lifting guide rail 335 at equal intervals. It can be understood that in other embodiments, the number of the second rollers 336 can also be four, six, seven, or even more, which will not be elaborated here.

[0090] As Figure 13As shown, in this embodiment, a clamping member 3351 is connected to a side surface of the lifting guide rail 335 facing away from the second roller 336. The conveying member 334 passes through the clamping member 3351 and is connected to the clamping member 3351, thereby realizing the assembly connection between the conveying member 334 and the lifting guide rail 335. Here, when the conveying member 334 is configured as a chain, one link of the chain is clamped into the card slot 33511 of the clamping member 3351, and then the two pins at the two ends of the link are used to connect and fix the clamping member 3351; correspondingly, the clamping member 3351 is fixed to the lifting guide rail 335 by welding.

[0091] As Figure 11 As shown, in an embodiment, the main frame 11 of the hangar 110 includes a lifting track 1101. The lifting track 1101 is correspondingly arranged with the lifting guide rail 335, and the lifting guide rail 335 is slidably connected to the corresponding lifting track 1101, thereby guiding the lifting movement of the lifting guide rail 335 in the main frame 11, which can further improve the stability of the lifting movement of the parking platform 111 in the hangar 110. Here, one lifting track 1101 is correspondingly arranged at both ends of the lifting guide rail 335. Among them, a needle roller bearing 337 is connected to the end position of the lifting guide rail 335, and the lifting guide rail can be slidably connected to the corresponding lifting track 1101 by the needle roller bearing 337.

[0092] As Figure 11 As shown, in an embodiment, lifting guide rails 335 are respectively connected to the outer sides of the first conveying group 3341 and the second conveying group 3342, and the lifting guide rails 335 on the inner and outer sides of the first conveying group 3341 and the second conveying group 3342 operate alternately in a cycle. Since the conveying member 334 in the first conveying group 3341 and the second conveying group 3342 is in a ring shape, the movement directions of the lifting guide rails 335 on the two outer sides of the first conveying group 3341 and the second conveying group 3342 can be opposite, and the parking platform 111 can be alternately carried. That is, the first rotation driving member 31 in the lifting driving mechanism 30 can always rotate in one direction. In this way, the use requirements for the transfer between the parking platforms 111 in different hangars 110 in the UAV nest 100 can be met. It should be noted that the number of the lifting guide rails 335 on the two outer sides of the first conveying group 3341 and the second conveying group 3342 is equal to the number of the parking platforms 111 in the hangar 110.

[0093] As Figure 11As shown, in this embodiment, the driving wheel 333 and the transmission wheel 332 are arranged on the outside of the lifting track 1101, so that the setting of the lifting track 1101 will not affect the exchange of the lifting guide rails 335 located on the inner and outer sides of the conveying member 334, and the lifting guide rails 335 located on the inner and outer sides of the conveying member 334 can be smoothly exchanged through the driving wheel 333 or the transmission wheel 332.

[0094] like Figure 1 As shown, in the present application, the number of the first transverse movement mechanisms 40 in the machine nest unit is configured as two, and the two first transverse movement mechanisms 40 are arranged at the two end positions of the machine nest body in the vertical direction, so that the parking platforms 111 in the two parking hangars 110 in the machine nest unit can circulate in a circular manner to meet the diagonal positions on the opposite sides of the machine nest body for the two drones to take off and land.

[0095] like Figure 14 , Figure 15 As shown, in one embodiment, the first transverse movement mechanism 40 includes a transverse movement drive component 41 and two clamping components 42. The transverse movement drive component 41 includes a second rotary drive component 411, a transverse movement reducer 412 and two connecting shafts 413. The two connecting shafts 413 are coaxially arranged and are respectively connected to the second rotary drive component 411 through the transverse movement reducer 412; the two clamping components 42 correspond one by one to the two connecting shafts 413. The clamping components 42 include a module slide 421 and a friction wheel group 422. The module slide 421 is connected to the corresponding connecting shaft 413 and is connected to the friction wheel group 422, so as to drive the friction wheel group 422 to reciprocate in the second direction Y relative to the parking platform 111. That is to say, the first transverse movement mechanism 40 of this embodiment can realize the control of the two clamping assemblies 42 to move toward or away from each other with a second rotary drive member 411, and achieve the purpose of locking the parking platform 111 or unlocking the parking platform 111, so as to ensure the consistency of the movement of the two clamping assemblies 42. Here, the second rotary drive member 411 is configured as a motor, and the two module slides 421 are fixedly installed in the machine nest body 10. It can be understood that in other embodiments, the second rotary drive member 411 can also be a rotary cylinder, or other mechanical transmission structure that can provide a rotary driving force, which will not be elaborated here.

[0096] like Figure 15As shown, in this embodiment, the friction wheel group 422 includes a friction wheel 4221 and a third rotating driving member 4222. The friction wheel 4221 can abut against the parking platform 111 in the second direction Y to limit the position, and the friction wheel 4221 can drive the parking platform 111 to move in the first direction X under the drive of the third rotating driving member 4222. That is, the friction wheel group 422 of this embodiment uses the friction wheel 4221 to clamp the parking platform 111, and uses the rotation of the friction wheel 4221 driven by the third rotating driving member 4222, and the static friction between the friction wheel 4221 and the clamped parking platform 111 to finally realize the movement drive of the parking platform 111 in the first direction X. Here, the third rotating driving member 4222 is configured as a motor. It can be understood that in other embodiments, the second rotating driving member 411 can also be a rotating cylinder, or other mechanical transmission structure that can provide a rotating driving force, which will not be elaborated here.

[0097] like Figure 15 As shown, the friction wheel group 422 of this embodiment also includes a mounting frame 4223, and the friction wheel group 422 can be mounted on the moving part of the module slide 421 through the mounting frame 4223; and the friction wheel 4221 is rotatably mounted in the mounting frame 4223, and the friction wheel 4221 is partially protruded from the mounting frame 4223 in the second direction Y, so that the friction wheel 4221 can clamp the shutdown platform with the part protruding from the mounting frame 4223, and the third rotating drive member 4222 is fixedly mounted on the outside of the mounting frame 4223, that is, the friction wheel group 422 can be assembled by mounting the base with the mounting frame 4223.

[0098] like Figure 15 As shown, in this embodiment, the number of friction wheels 4221 in the friction wheel group 422 is configured to be at least two, and at least two friction wheels 4221 are connected in transmission through a synchronous belt 4224; wherein, the third rotating driving member 4222 is connected in transmission with one of the friction wheels 4221. That is to say, the friction wheel group 422 of this embodiment can use at least two friction wheels 4221 to realize the movement drive of the parking platform 111, so as to ensure that the clamping assembly 42 can control the entire movement process of the parking platform 111 to meet the use requirements of the parking platform 111 circulating in two adjacent parking garages 110. Here, multiple friction wheels 4221 are coaxially connected with synchronous pulleys 4225, and the synchronous belt 4224 is wound around two synchronous pulleys 4225 to realize the synchronous rotation of the two friction wheels 4221.

[0099] like Figure 1As shown, in one embodiment, the nest unit in the drone nest 100 further includes two second transverse movement mechanisms 50. The two second transverse movement mechanisms 50 correspond to the two hangars 110 one by one. The second transverse movement mechanism 50 is installed on the corresponding hangar 110, specifically, it can be installed on the main frame 11 of the hangar 110. Moreover, the second transverse movement mechanism 50 is arranged between the parking platform 111 communicating with the bearing platform 12 and the bearing platform 12, and is used to control the parking platform 111 to enter and exit the bearing platform 12, so as to meet the usage requirements of each hangar 110 in the nest unit for taking off and landing drones on different sides. It should be noted that the specific structure and working principle of the above-mentioned second transverse movement mechanism 50 are the same as those of the first transverse movement mechanism 40, and will not be elaborated here.

[0100] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0101] Those of ordinary skill in the art in this technical field should recognize that the above embodiments are only used to illustrate the present invention, rather than to limit the present invention. As long as it is within the scope of the essential spirit of the present invention, the appropriate changes and variations made to the above embodiments fall within the scope of protection required by the present invention.

Claims

1. A return-to-position mechanism is applied to a drone nest (100). The drone nest (100) includes a parking platform (111) and a carrying platform (12). The parking platform (111) is capable of moving relative to the carrying platform (12) so that a drone can take off or land on the parking platform (111) located on the carrying platform (12). It is characterized in that, The return mechanism (20) comprises: A collision block (23) is located on the carrying platform (12); A sliding push rod group (21) is located on the front side of the parking platform (111) and is independently arranged relative to the parking platform (111), and the sliding push rod group (21) includes two push rods (211) arranged opposite to each other; The driving group (22) is located on the back side of the parking platform (111) and can move with the parking platform (111); the driving group (22) can cooperate with the collision block (23) in a limited position within a first stroke range to jointly control the two push rods (211) in the sliding push rod group (21) to move relative to each other, so that when the driving group (22) moves toward the collision block (23), the two push rods (211) are driven to move away from each other to a first position; and when the driving group (22) moves away from the collision block (23), the two push rods (211) are driven to move toward each other to a second position.

2. The centering mechanism according to claim 1, characterized in that, The driving group (22) comprises a driving rack (221), a driving gear (222) and an elastic member (223); the driving rack (221) is slidably connected to the parking platform (111) in the moving direction of the parking platform (111) and abuts against the elastic member (223); the driving gear (222) is rotatably connected to the parking platform (111) and meshes with the driving rack (221); and the driving gear (222) is transmission-connected to the sliding push rod group (21) for controlling the two push rods (211) in the sliding push rod group (21) to move away from each other or towards each other; The abutment block (23) is arranged on the moving path of the driving rack (221), and the abutment block (23) can abut against the driving rack (221) to limit the position, and the elastic member (223) is located at one end of the driving rack (221) away from the abutment block (23), and the abutment block (23) and the elastic member (223) drive the driving rack (221) to slide in both directions relative to the parking platform (111).

3. The centering mechanism according to claim 2, characterized in that, The return mechanism (20) further comprises a transmission group (24), wherein the transmission group (24) is arranged corresponding to the sliding push rod group (21); The transmission group (24) comprises a transmission gear (241) and two transmission racks (242); the transmission gear (241) is coaxially arranged with the driving gear (222) and is circumferentially limited with the driving gear (222); the two transmission racks (242) correspond one-to-one to the two push rods (211) in the sliding push rod group (21); and the transmission racks (242) are transmission-connected with the corresponding push rods (211) and mesh with the transmission racks (242).

4. The centering mechanism according to claim 3, characterized in that, The transmission rack (242) and the corresponding push rod (211) are connected via a push rod bracket (212); Wherein, the push rod bracket (212) is arranged through the parking platform (111).

5. The centering mechanism according to claim 3, characterized in that, The transmission gear (241) is arranged on a side of the driving gear (222) facing the parking platform (111), and the transmission gear (241) and the driving gear (222) are connected in transmission via a synchronization shaft (243).

6. The centering mechanism according to claim 3, characterized in that, The transmission group (24) further comprises a rack fixing block (244), and the rack fixing block (244) is used for being mounted on the parking platform (111); The rack fixing block (244) is arranged corresponding to the transmission rack (242), and the rack fixing block (244) is slidably connected to the corresponding transmission rack (242) and is used to limit the transmission rack (242) to the transmission gear (241) and enable the transmission rack (242) to mesh with the transmission gear (241).

7. The centering mechanism according to claim 1, characterized in that, The number of the sliding push rod groups (21) is configured as a plurality of groups, and the plurality of groups of the sliding push rod groups (21) are staggeredly arranged in the height direction of the parking platform (111).

8. The centering mechanism according to claim 2, wherein The driving rack (221) is connected to a rack slider (2211), and the rack slider (2211) is arranged on a side of the driving rack (221) away from the driving gear (222) and is used for being slidably connected to a slide bar (1111) connected to the parking platform (111); The driving rack (221) can abut against the elastic member (223) through the rack slider (2211), and the elastic member (223) is sleeved onto the slide bar (1111).

9. The centering mechanism according to claim 2, characterized in that, A push wheel (2212) is rotatably connected to a side surface of the driving rack (221) that is away from the parking platform (111), and the driving rack (221) can abut against the collision block (23) through the push wheel (2212), so that the driving rack (221) and the collision block (23) are abutted to limit position.

10. An unmanned aerial vehicle (UAV) nest, characterized in that, It comprises a carrying platform (12), a parking platform (111), and a return mechanism (20) as described in any one of claims 1 to 9, wherein the parking platform (111) can move relative to the carrying platform (12) so that the UAV can take off or land on the parking platform (111) located on the carrying platform (12); The collision block (23) is fixedly mounted on the bearing platform (12), and the sliding push rod group (21) and the driving group (22) are both mounted on the parking platform (111).

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