Integrated unmanned aerial vehicle take-off and landing station with automatic battery charging and replacing and cargo loading and unloading functions

Abstract

The invention discloses an integrated unmanned aerial vehicle taking-off and landing station with automatic battery charging and replacing and cargo loading and unloading functions, and belongs to the field of unmanned aerial vehicle transportation. An integrated unmanned aerial vehicle take-off and landing station with automatic battery charging and replacing and cargo loading and unloading functions comprises a battery charging and replacing station and a cargo loading and unloading platform, a battery replacing mechanical arm is installed on the battery charging and replacing station, the cargo loading and unloading platform is used for containing an unmanned aerial vehicle and an AGV, a cargo box is connected to the bottom side of the unmanned aerial vehicle, and a clamping air bag is fixedly connected to the inner side wall of the cargo box; the bottom of the cargo box is fixedly connected with a supporting piece, the supporting piece is of a hollow structure, a falling groove is formed in the cargo loading and unloading platform, and the supporting piece falls into the falling groove; when the clamping air bag releases and loosens goods, exhausted high-pressure gas enters the telescopic adjusting air bag and the expansion tensioning air bag, the telescopic adjusting air bag finely adjusts the position of the unmanned aerial vehicle, battery replacement and goods loading and unloading are facilitated, and meanwhile the expansion tensioning air bag can expand, tension and stabilize the unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of drone transportation technology, and in particular to an integrated drone take-off and landing station with automatic charging and swapping and cargo loading and unloading capabilities. Background Technology

[0002] With the rapid development of technology in recent years, especially in the field of drones, their applications have become more and more widespread and the technology has become more and more mature. Drones are also widely used in various fields, such as aerial photography and surveillance, performances, agricultural spraying, etc. The rapid development of drone technology has also enhanced its carrying capacity, and it has also been used for transporting goods in mountains.

[0003] Specifically designed for transporting goods in mountainous areas, and for construction projects where drones are needed for transporting goods back and forth, the increased load leads to higher power consumption. Therefore, a battery swapping function was designed on the drone's take-off and landing platform. After the drone lands, the battery swapping station uses a robotic arm to remove the battery from the drone and charge it at the charging point, while simultaneously replacing the drone's battery with a fully charged one, thus improving the efficiency of goods transportation.

[0004] When drones land to load and unload goods or charge and swap batteries, they need to be accurately positioned and stabilized to prevent the drone and cargo box from shaking during battery swapping or loading and unloading. Based on this, a drone take-off and landing site was proposed. Summary of the Invention

[0005] The purpose of this invention is to solve the problem that existing take-off and landing platforms are mostly simple platforms, which lack further positioning, fine-tuning and stabilization. The invention proposes an integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] An integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading includes a charging and swapping station and a cargo loading and unloading platform. The charging and swapping station is equipped with a battery swapping robotic arm. The cargo loading and unloading platform is used to place UAVs and AGV trolleys. A cargo box is connected to the bottom side of the UAV, and a clamping airbag is fixedly connected to the inner side wall of the cargo box.

[0008] The bottom of the cargo box is fixedly connected to a support member, which is a hollow structure. A landing groove is provided on the cargo loading and unloading platform, and the support member lands in the landing groove.

[0009] The end of the support member is fixedly connected to a telescopic adjustment airbag and an expansion tension airbag. Both the telescopic adjustment airbag and the expansion tension airbag are connected to the support member, and a solenoid valve is provided at the connection point. The clamping airbag is connected to the support member through a connecting pipe.

[0010] When the support component is initially positioned and lowered into the landing trough, and fine-tuning is required, the solenoid valve on the telescopic adjustment airbag is opened, and the gas in the clamping airbag enters the corresponding telescopic adjustment airbag. The telescopic adjustment airbags at the four corners of the support component extend and retract to abut against the landing trough for fine-tuning. After adjustment, the solenoid valve on the expansion tension airbag is opened, and the expansion tension airbag abuts tightly against the inner wall of the landing trough, thereby stabilizing the support component and cargo box.

[0011] To facilitate the transport of goods into the cargo box, preferably, the bottom of the cargo box is provided with a lifting groove, a lifting plate is provided in the lifting groove, and a wheel is connected to the lifting plate.

[0012] To enable the lifting plate to move up and down, the bottom of the cargo box is provided with a through hole communicating with the lifting groove, a push rod is fixedly connected to the lower end of the lifting plate, and the bottom end of the lifting plate is connected to the bottom wall of the lifting groove through a reset spring.

[0013] To further enable the lifting platform to move up and down, a lifting cavity is provided on the cargo loading and unloading platform, and a lifting piston rod is slidably and sealed in the lifting cavity. The lifting piston rod is located below the push rod, and an air inlet is provided on the cargo loading and unloading platform that communicates with the lifting cavity.

[0014] To further facilitate the upward movement of the push rod, multiple sets of inflation chambers are provided on the inner wall of the landing groove. An inflation piston rod is slidably and sealed in each inflation chamber. A return spring is connected between the inflation piston rod and the inflation chamber. The inflation piston rod is located on the side of the expansion tension airbag. The inflation chamber is connected to the air inlet.

[0015] To better clamp the goods during transportation, a sliding cavity is further provided on the bottom side of the cargo box, and a clamping rod is slidably installed in the sliding cavity. The clamping rod is connected to the bottom of the sliding cavity by a spring, and the clamping rod is connected to the lifting plate by a pull rope.

[0016] To achieve automatic opening and closing of the door, a rotating shaft is rotatably connected to the cargo box, and a door is fixedly connected to the rotating shaft. A drive shaft is rotatably connected to the cargo box, with a gear fixedly connected to one end of the drive shaft. A rack meshing with the gear is fixedly connected to the lower end of the lifting plate, and a first bevel gear is fixedly connected to the other end of the drive shaft. A second bevel gear meshing with the first bevel gear is fixedly connected to the rotating shaft, and a torsion spring connects the rotating shaft and the cargo box.

[0017] Compared with the prior art, the present invention provides an integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading, which has the following beneficial effects:

[0018] 1. This integrated drone take-off and landing station, equipped with automatic charging and swapping and cargo loading and unloading, uses hollow support components to position the drone for landing in the landing trough. At the same time, the high-pressure gas discharged when the clamping airbag releases the cargo enters the telescopic adjustment airbag and the expansion tension airbag on the support component. The telescopic adjustment airbag finely adjusts the position of the drone to facilitate battery swapping and cargo loading and unloading, while the expansion tension airbag can expand and tighten to stabilize the drone. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the structure of the drone, AGV, and robotic arm of the present invention;

[0021] Figure 3 This is a schematic diagram of the cargo box structure of the present invention;

[0022] Figure 4 This is a schematic diagram of the bottom structure of the cargo box of the present invention;

[0023] Figure 5 This is a schematic cross-sectional view of the bottom of the cargo box of the present invention;

[0024] Figure 6 For the present invention Figure 5 Schematic diagram of the structure at point A;

[0025] Figure 7 This is a schematic diagram of the lifting plate structure of the present invention;

[0026] Figure 8 This is a cross-sectional structural diagram of the cargo loading and unloading platform of the present invention;

[0027] Figure 9 For the present invention Figure 8 Schematic diagram of the structure at point B;

[0028] Figure 10 This is a schematic diagram of the overall loading and unloading process for the UAV according to the present invention.

[0029] In the diagram: 1. Cargo loading / unloading platform; 101. Landing trough; 2. Charging / battery swapping station; 3. AGV trolley; 4. Battery swapping robotic arm; 5. Drone; 6. Cargo box; 601. Rotating shaft; 7. Clamping airbag; 8. Connecting pipe; 9. Support component; 10. Telescopic adjustable airbag; 11. Inflatable tension airbag; 12. Lifting trough; 13. Lifting plate; 1301. Return spring; 14. Rotating wheel; 15. Push rod; 16. Lifting chamber; 1601. Air inlet; 17. Lifting piston rod; 18. Sliding chamber; 19. Clamping rod; 1901. Spring; 20. Pulling rope; 21. Drive shaft; 22. Gear; 23. Rack; 24. Second bevel gear; 25. First bevel gear; 26. Torsion spring; 27. Inflation chamber; 28. Inflation piston rod; 29. ​​Return spring. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0031] Example:

[0032] Reference Figure 1-2 An integrated drone take-off and landing station with automatic charging, battery swapping, and cargo loading and unloading capabilities includes a charging and battery swapping station 2 and a cargo loading and unloading platform 1. The cargo loading and unloading platform 1 is used to place drones 5 and AGV trolleys 3. The charging and battery swapping station 2 is equipped with multiple battery storage cavities, which can charge the batteries. The charging and battery swapping station 2 is equipped with a battery swapping robotic arm 4. When the drone lands on the cargo loading and unloading platform 1 to load and unload cargo, the battery swapping robotic arm 4 uses its grippers to clamp the battery box on the drone 5. In specific implementation, the battery box is installed in the drone 5. The battery swapping robotic arm 4 approaches the drone 5, opens and removes the battery box containing the battery from the drone 5, and then inserts it into the battery storage cavity of the charging and battery swapping station 2. At the same time, a fully charged battery is taken out and inserted into the drone 5.

[0033] Reference Figure 2 While swapping batteries, the switch door on cargo box 6 is opened, and AGV trolley 3 transports the goods that need to be unloaded from drone 5 away. At the same time, AGV trolley 3 transports new goods to cargo loading and unloading platform 1. In specific implementation, AGV trolleys with built-in electric push rods can be selected. The AGV trolley is aligned with cargo box 6, and the electric push rod pushes the goods on the AGV trolley into cargo box 6 for easy loading.

[0034] Reference Figure 2The drone 5 is connected to a cargo box 6 on its bottom side. A clamping airbag 7 is fixedly connected to the inner side wall of the cargo box 6. Multiple clamping airbags 7 are provided on the side surface inside the cargo box 6. After the cargo is installed, the clamping airbags 7 are inflated to clamp and stabilize the cargo, preventing the cargo from shaking during transport by the drone 5 and making it difficult for the drone to fly.

[0035] Reference Figure 4 In specific implementation, the drone 5 is selected as a drone with its own navigation and positioning. When the drone 5 lands, it can automatically return to the cargo loading and unloading platform. The bottom of the cargo box 6 is fixedly connected to the support 9, which is a hollow structure. The cargo loading and unloading platform 1 has a landing groove 101, and the support 9 lands in the landing groove 101.

[0036] Reference Figure 4 and Figure 5 The support member 9 is fixedly connected to a telescopic adjustment airbag 10 and an expansion tension airbag 11. Both the telescopic adjustment airbag 10 and the expansion tension airbag 11 are connected to the support member 9, and a solenoid valve is provided at the connection point. The clamping airbag 7 is connected to the support member 9 through a connecting pipe 8. It should be noted that, in specific implementation, when the landing groove 101 is opened, the aperture size is larger than the outer diameter of the support member 9, and the aperture at the bottom of the landing groove 101 is larger than the aperture on the upper surface of the landing groove 101, so that the telescopic adjustment airbag 10 and the expansion tension airbag 11 on the support member 9 can fall into the landing groove 101. The position of the drone 5 can be finely adjusted by the telescopic adjustment airbag 10 to facilitate battery replacement and loading and unloading of goods. At the same time, the expansion tension airbag 11 can expand and tighten to stabilize the drone 5.

[0037] When the support 9 is initially positioned and descends into the landing trough 101, and fine-tuning is required, the solenoid valve on the telescopic adjustment airbag 10 is opened, and the air in the clamping airbag 7 enters into the corresponding telescopic adjustment airbag 10. The telescopic adjustment airbags 10 at the four corners of the support 9 extend and retract against the landing trough 101 for fine-tuning. After the adjustment is completed, the solenoid valve on the expansion tension airbag 11 is opened, and the expansion tension airbag 11 is tightly against the inner wall of the landing trough 101, thereby stabilizing the support 9 and the cargo box 6.

[0038] Reference Figure 5-7 When transporting some heavier goods, the AGV trolley 3 may cause the drone 5 and the cargo box to rotate during the process of pushing the goods into the cargo box 6 due to the weight of the goods. Therefore, the following solution is adopted: the bottom of the cargo box 6 is provided with a lifting groove 12, and a lifting plate 13 is provided in the lifting groove 12. A rotating wheel 14 is connected to the lifting plate 13. The rotation effect of the rotating wheel 14 is used to push the heavier goods into the cargo box 6. After the pushing is completed, the rotating wheel 14 can be retracted.

[0039] Reference Figure 5-7The lifting plate 13 can be lifted in the following way: the bottom of the cargo box 6 is provided with a through hole communicating with the lifting groove 12, the lower end of the lifting plate 13 is fixedly connected with a push rod 15, and the bottom end of the lifting plate 13 is connected to the bottom wall of the lifting groove 12 through a reset spring 1301. The push rod 15 can push the lifting plate 13 to move upward, and the reset spring 1301 realizes the lifting plate 13 to move downward and reset.

[0040] Reference Figure 6 , Figure 8 and Figure 9 After the drone 5 and cargo box 6 land, the lifting platform 13 is raised while stabilizing the cargo box 6. The specific scheme is as follows: a lifting chamber 16 is opened on the cargo loading and unloading platform 1, and a lifting piston rod 17 is slidably and sealed in the lifting chamber 16. The lifting piston rod 17 is located below the push rod 15. An air inlet 1601 communicating with the lifting chamber 16 is opened on the cargo loading and unloading platform 1. Multiple sets of inflation chambers 27 are opened on the inner wall of the landing groove 101. An inflation piston rod 28 is slidably and sealed in the inflation chamber 27. A return spring 29 is connected between the inflation piston rod 28 and the inflation chamber 27. The inflation piston rod 28 is located at the expansion tension airbag 1. On one side, the inflation chamber 27 is connected to the air inlet 1601. By delivering the high-pressure gas that expands in the clamping airbag 11 to the expansion tension airbag 11 for stabilization, the airflow from the clamping airbag 11 into the expansion tension airbag 11 also releases the goods, making it easier to remove the transported goods. At the same time, the expansion tension airbag 11 expands to stabilize the support 9 and the goods 6. Meanwhile, the inflation piston rod 28 is squeezed by the expansion tension airbag 11. Multiple inflation chambers 27 deliver air to the lifting chamber 27 through the air inlet 1601, thereby driving the lifting piston rod 17 to move upward and push the rod 15 to raise the lifting plate 13.

[0041] Additionally, it should be noted that the lower end of the support member 9 is connected to an inflation connector 901, and the cargo loading and unloading platform 1 is connected to an inflation plug 102 corresponding to the inflation connector 901. The inflation plug 102 is connected to an external air pump. On the one hand, after the cargo is loaded and unloaded, gas can be injected into the clamping airbag 7 through the inflation plug 102 to clamp the cargo. On the other hand, if a heavy cargo is encountered, high-pressure airflow can be injected to achieve sufficient pressure to push the inflation piston rod 28 and lift the lifting plate 13. When implementing this method, it is necessary to note that a solenoid valve needs to be installed on the connecting pipe 8, and an exhaust solenoid valve also needs to be installed on the telescopic adjustment airbag 10 and the expansion tension airbag 11 to facilitate the release of air and detachment from the drop groove 101.

[0042] Reference Figures 5-7In some other embodiments, a sliding cavity 18 is provided on the bottom side of the cargo box 6, and a clamping rod 19 is slidably provided in the sliding cavity 18. A spring 1901 is connected to the bottom of the sliding cavity 18 and the clamping rod 19 is connected to the lifting plate 13 by a pulling rope 20. When the lifting plate 13 drives the rotating wheel 14 to rise to load and unload goods, the clamping rod 19 retracts to release the goods. When the lifting plate 13 falls back down for transport by the drone 5, the clamping rod 19 extends to clamp the goods.

[0043] Reference Figure 3 and Figure 7 In practical implementation, the door on the cargo box 6 can be automatically opened. The specific scheme is as follows: a rotating shaft 601 is rotatably connected to the cargo box 6, and a door is fixedly connected to the rotating shaft 601; a drive shaft 21 is rotatably connected to the cargo box 6, a gear 22 is fixedly connected to one end of the drive shaft 21, a rack 23 meshing with the gear 22 is fixedly connected to the lower end of the lifting plate 13, and a first bevel gear 25 is fixedly connected to the other end of the drive shaft 21. A gear that meshes with the first bevel gear 25 is fixedly connected to the rotating shaft 601. The second bevel gear 24 meshes with the shaft 601 and the cargo box 6. A torsion spring 26 is connected between the shaft 601 and the cargo box 6. When the drone 5 lands and the lifting plate 13 rises to load and unload cargo, it will drive the transmission shaft 21 to rotate through the gear 22 and rack 23, and drive the shaft 601 of the door to rotate through the first bevel gear 25 and the second bevel gear 24, thereby opening the door. The torsion spring 26 facilitates the door to rotate back to its original position. In addition, an electromagnetic lock 602 is installed on the door. When closed, the door is locked by power.

[0044] It should also be noted that the door can be equipped with a clamping airbag 7, which can be connected to the connecting pipe via a flexible hose.

[0045] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An integrated UAV take-off and landing station with automatic charging, battery swapping, and cargo loading and unloading capabilities, comprising a charging and battery swapping station (2) and a cargo loading and unloading platform (1), wherein the charging and battery swapping station (2) is equipped with a battery swapping robotic arm (4), and the cargo loading and unloading platform (1) is used to place UAVs (5) and AGV trolleys (3), characterized in that, The drone (5) is connected to a cargo box (6) on its bottom side, and a clamping airbag (7) is fixedly connected to the inner wall of the cargo box (6). The bottom of the cargo box (6) is fixedly connected to a support member (9), which is a hollow structure. A drop groove (101) is provided on the cargo loading and unloading platform (1), and the support member (9) drops into the drop groove (101). The end of the support member (9) is fixedly connected to a telescopic adjustment airbag (10) and an expansion tension airbag (11). Both the telescopic adjustment airbag (10) and the expansion tension airbag (11) are connected to the support member (9), and both are equipped with solenoid valves. The clamping airbag (7) is connected to the support member (9) through a connecting pipe (8). When the support member (9) is initially positioned and lowered into the landing groove (101), and fine-tuning is required, the gas in the clamping airbag (7) enters the corresponding telescopic adjustment airbag (10) by opening the solenoid valve on the telescopic adjustment airbag (10). The telescopic adjustment airbags (10) at the four corners of the support member (9) extend and retract against the landing groove (101) for fine-tuning. After the adjustment is completed, the solenoid valve on the expansion tension airbag (11) is opened, and the expansion tension airbag (11) is tightly against the inner wall of the landing groove (101) to stabilize the support member (9) and the cargo box (6).

2. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 1, characterized in that, The bottom of the cargo box (6) is provided with a lifting groove (12), and a lifting plate (13) is provided in the lifting groove (12). A wheel (14) is connected to the lifting plate (13).

3. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 2, characterized in that, The bottom of the cargo box (6) is provided with a through hole that communicates with the lifting groove (12), and the lower end of the lifting plate (13) is fixedly connected with a push rod (15).

4. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 3, characterized in that, The bottom end of the lifting plate (13) is connected to the bottom wall of the lifting groove (12) via a reset spring (1301).

5. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 3, characterized in that, The cargo loading and unloading platform (1) is provided with a lifting cavity (16), and a lifting piston rod (17) is slidably and sealed in the lifting cavity (16). The lifting piston rod (17) is located below the push rod (15). The cargo loading and unloading platform (1) is provided with an air inlet (1601) that communicates with the lifting cavity (16).

6. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 5, characterized in that, The inner wall of the landing groove (101) has multiple sets of inflation chambers (27). An inflation piston rod (28) is slidably and sealed in the inflation chamber (27). A return spring (29) is connected between the inflation piston rod (28) and the inflation chamber (27). The inflation piston rod (28) is located on one side of the expansion tension airbag (11). The inflation chamber (27) is connected to the air inlet (1601).

7. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 3 or 5, characterized in that, The cargo box (6) has a sliding cavity (18) on its bottom side. A clamping rod (19) is slidably provided in the sliding cavity (18). A spring (1901) is connected to the bottom of the sliding cavity (18) of the clamping rod (19). A pulling rope (20) is connected to the lifting plate (13) of the clamping rod (19).

8. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 3 or 5, characterized in that, A rotating shaft (601) is rotatably connected to the cargo box (6), and a switch door is fixedly connected to the rotating shaft (601).

9. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 7, characterized in that, A drive shaft (21) is rotatably connected to the cargo box (6). A gear (22) is fixedly connected to one end of the drive shaft (21). A rack (23) meshing with the gear (22) is fixedly connected to the lower end of the lifting plate (13). A first bevel gear (25) is fixedly connected to the other end of the drive shaft (21). A second bevel gear (24) meshing with the first bevel gear (25) is fixedly connected to the rotating shaft (601).

10. The integrated UAV take-off and landing station with automatic charging and swapping and cargo loading and unloading as described in claim 6, characterized in that, A torsion spring (26) is connected between the rotating shaft (601) and the cargo box (6).

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