Unmanned aerial vehicle charging and battery replacing integrated hangar

Abstract

This invention relates to the field of drone hangar technology and discloses an integrated drone charging and battery swapping hangar. The drone's landing gear includes two support components, each consisting of a strut and a crossbar. Two limiting posts are fixedly installed on the crossbar, and a charging port is also provided on one of the crossbars. The end of the drone's fuselage has an I-shaped cross-section, with battery compartments on both sides and a battery knob installed at this end. The integrated charging and battery swapping hangar includes a take-off and landing assembly, a battery swapping assembly, a charging assembly, a canopy assembly, and a propeller assembly. Through the centering and positioning mechanism in the take-off and landing assembly, which cooperates with the drone's landing gear, the drone can be positioned and fixed at the center of the take-off and landing platform. After the drone enters the hangar with the take-off and landing platform, it has a defined position. Under automatic control, the drone can be charged through the charging assembly and its battery can be swapped through the battery swapping assembly. At the same time, the system deployment within the hangar is relatively simple, which is conducive to the miniaturization of the hangar.

Description

Technical Field

[0001] This invention relates to the field of drone hangar technology, specifically a drone charging and battery swapping integrated hangar. Background Technology

[0002] With the widespread application of drone technology in scenarios such as inspection, surveying, security, logistics, and border patrol, automated drone hangars have emerged. The hangars are designed to provide drones with functions such as take-off and landing, environmental protection, energy supply, and data transmission, thereby enabling remote deployment, 24 / 7 monitoring, and fully autonomous operation of drones.

[0003] Currently, most mainstream automated drone hangars on the market typically use charging for energy replenishment. Charging stations are installed within the hangar, allowing drones to automatically recharge upon returning. However, due to low charging efficiency and long charging times, this method is unsuitable for long-endurance, high-frequency continuous drone operations. Some existing designs also include automated battery-swapping hangars, which deploy battery replacement equipment. However, these hangars are often complex, bulky, and have limited functionality, failing to intelligently switch and select based on mission requirements. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide an integrated charging and battery swapping hangar for drones. This integrated charging and battery swapping hangar is designed to be used with drones and integrates charging and battery swapping functions. The system deployment within the hangar is relatively simple and the hangar volume is more compact.

[0005] The objective of this invention is achieved through the following technical solution: A drone charging and swapping integrated hangar is provided, applicable to a drone. The drone includes a fuselage and landing gear. The landing gear includes two support members, each support member including a strut and a crossbar. One end of the strut is fixedly connected to the middle of the crossbar, and the other end of the strut is fixedly connected to the bottom of the fuselage. The crossbar is horizontally positioned, and two limiting posts are fixedly mounted on the crossbar. The limiting posts are vertically positioned away from the end of the crossbar, and the two limiting posts are symmetrically arranged on both sides of the strut. The two support members are symmetrically arranged on both sides of the fuselage. The fuselage is enclosed by... The device includes a partition and a body with a U-shaped cross-section. The partition is fixedly installed inside the open end of the body, making one end of the fuselage have an I-shaped cross-section. Battery compartments are formed on both sides of the partition. A battery knob is rotatably installed at one end of the partition. A battery is installed inside the battery compartment and is used to power the drone. The battery knob is used to lock the battery into the battery compartment. A power switch is installed on the top of the fuselage and is used to control the power on or off of the drone. A charging port is fixedly installed on one of the crossbars and is used to charge the battery in the battery compartment. The integrated charging and swapping hangar for drones includes a shell, within which a battery swapping assembly, a take-off and landing assembly, and a charging assembly are housed. The take-off and landing assembly includes a take-off and landing platform and a centering and positioning mechanism. The centering and positioning mechanism includes two first centering beams and two second centering beams. The platform surface is horizontally oriented. The first centering beams are parallel to and positioned above the platform surface. The second centering beams are positioned above the first centering beams and parallel to the platform surface. The two first centering beams are parallel to each other and can move closer or further apart. The first centering beams are adapted to the crossbar. The two second centering beams are parallel to each other and can move closer or further apart. The second centering beams are adapted to both the limiting post and the crossbar. The vertical projections of the two first and two second centering beams form a grid pattern. Both the battery swapping assembly and the charging assembly are adapted to the centering and positioning mechanism. The battery swapping assembly is used to replace the drone's battery, and the charging assembly is used to charge the drone.

[0006] Furthermore, the centering positioning mechanism also includes a centering drive device, which comprises a centering motor, a three-axis commutator A, two centering lead screws A, a bevel gear commutator A, and a centering double helical lead screw A. The centering motor, the three-axis commutator A, and the bevel gear commutator A are all fixedly connected to the lifting platform. The centering lead screws A and the centering double helical lead screw A are rotatably mounted on the lifting platform. The two centering lead screws A are coaxially arranged, and the centering lead screw A is perpendicular to the centering double helical lead screw A. The output shaft of the centering motor is fixedly connected to the input shaft of the three-axis commutator A. One end of rod A is fixedly connected to the two output shafts of the three-axis commutator A. The other end of a centering screw A is fixedly connected to one end of a bevel gear commutator A. The other end of the bevel gear commutator A is fixedly connected to one end of a centering double helix screw A. One end of each of the two first centering beams is threadedly connected to the two centering screws A. The centering double helix screw A has a forward thread section and a reverse thread section respectively located away from the center. One end of each of the two second centering beams is threadedly connected to the forward thread section and the reverse thread section respectively. Both the centering screw A and the centering double helix screw A are adapted to the UAV's landing gear.

[0007] Furthermore, the charging assembly includes a charging base, a charging plug, and an electric push rod. The charging base is fixedly mounted on a first centering beam. The charging plug is slidably connected to the charging base. Both ends of the electric push rod are fixedly connected to the charging plug and the charging base, respectively. The charging plug is adapted to the charging port.

[0008] Furthermore, the housing has an opening at the top, and the lifting assembly also includes a lifting drive device for driving the lifting platform to rise and fall. When the lifting platform is raised, it can be flush with the opening end of the housing.

[0009] Furthermore, the lifting and lowering drive device includes a lifting and lowering motor, a screw jack, and several guide rods. The lifting and lowering motor, the screw jack, and the guide rods are all fixedly connected to the housing. The guide rods and the lead screws of the screw jack are both vertically arranged. The lifting and lowering motor is used to drive the input shaft of the screw jack to rotate. The output lead screw nut of the screw jack is fixedly connected to the lifting and lowering platform. The lifting and lowering platform is slidably connected to the guide rods.

[0010] Furthermore, it also includes a propeller assembly, which includes several propeller mechanisms. Each propeller mechanism includes a propeller motor and a propeller rod. One end of the propeller rod is fixedly connected to the output shaft of the propeller motor. The propeller motor is fixedly connected to the housing. The output shaft of the propeller motor is parallel to the horizontal direction. The propeller rod is located at the top opening of the housing.

[0011] Furthermore, a hatch assembly is provided at the top opening of the hull. The hatch assembly includes a left hatch, a right hatch, a hatch opening / closing motor, a right hatch lead screw, a three-axis commutator B, and a left hatch lead screw. The left and right hatches are slidably connected to the hull and can move closer or further apart. The hatch opening / closing motor and the three-axis commutator B are fixedly connected to the hull. The right and left hatch lead screws are rotatably connected to the hull and are coaxially arranged. One end of the right hatch lead screw and one end of the left hatch lead screw are respectively fixedly connected to the two output shafts of the three-axis commutator B. The left hatch is threadedly connected to the left hatch lead screw, and the right hatch is threadedly connected to the right hatch lead screw. The hatch opening / closing motor is used to drive the right hatch lead screw or the left hatch lead screw to rotate.

[0012] Furthermore, the battery swapping assembly includes a battery charging compartment and a battery swapping robotic arm, which are disposed within the housing. The battery charging compartment includes several charging areas arranged from top to bottom, and each charging area includes two charging cells arranged side by side. The shape of the charging area is adapted to the I-shaped end shape of the drone's fuselage cross-section. The battery swapping robotic arm is used to replace the drone's battery and the battery in the battery charging compartment.

[0013] Furthermore, the battery swapping robotic arm includes a base, a rotary drive device, a lifting mechanism, a lateral movement mechanism, and an execution mechanism; The lifting mechanism includes a column and a lifting drive device. The lateral movement mechanism includes a horizontal arm, a mounting base, and a lateral movement drive device. The base is fixedly installed inside the housing. The column is vertically installed, and the bottom end of the column is rotatably connected to the top end of the base. The rotation drive device is used to drive the column to rotate on the base. The positioning position of the drone and the installation position of the battery charging compartment of the centering positioning mechanism are both located in the radial direction of the rotation of the column on the base. The horizontal arm is horizontally installed, and one end of the horizontal arm is slidably connected to the column. The lifting drive device is used to drive the horizontal arm to slide on the column. The mounting base is slidably installed on the horizontal arm. The lateral movement drive device is used to drive the mounting base to slide on the horizontal arm. The actuator includes an actuator motor, an actuator gear, a torsion shaft, a torsion seat, a spring, and two clamping devices. Each clamping device includes a rack and a clamping arm. The rack is slidably mounted on the mounting base. The clamping arm is fixedly connected to the rack and extends horizontally towards the side of the mounting base away from the column. A bent portion is formed at the end of the clamping arm away from the mounting base, and this bent portion is adapted to the end of the drone's battery away from the battery knob. The actuator motor is fixedly mounted on the mounting base, and the actuator gear is fixedly sleeved on the output shaft of the actuator motor. The actuator gear meshes with the rack. The torsion... One end of the shaft is coaxially and fixedly connected to the end of the actuating gear away from the actuating motor. The other end of the torsion shaft is coaxially and slidably connected to one end of the torsion seat. The other end of the torsion seat is adapted to the battery knob of the drone and to the end of the drone's battery near the battery knob. The spring is used to provide elastic force to move the torsion shaft and the torsion seat away from each other. The two clamping devices are arranged in a centrally symmetrical manner. The axis of the actuating gear is perpendicular to the rotation axis of the column relative to the base. The two clamping arms are located in the same horizontal plane and are symmetrical about left and right with the actuating gear as the center. The two clamping arms can move closer to each other or away from each other.

[0014] Furthermore, the actuator also includes a switching device, which comprises a switch motor, a first link, a second link, and a third link. The two ends of the first link are rotatably connected to one end of the third link and the mounting base, respectively. The two ends of the second link are rotatably connected to the middle of the third link and the mounting base, respectively. The first link, the third link, the second link, and the mounting base form a parallelogram mechanism. A buffer button is provided at the end of the third link away from the first link. The switch motor is used to drive the first link or the second link to swing around the mounting base. The buffer button is compatible with the switch button of the UAV.

[0015] The beneficial effects of this invention are: This invention discloses an integrated charging and battery swapping hangar, comprising a takeoff and landing assembly, a battery swapping assembly, a charging assembly, a canopy assembly, and a propeller assembly. The takeoff and landing assembly includes a takeoff and landing platform and a centering and positioning mechanism. The centering and positioning mechanism includes two first centering beams and two second centering beams. This mechanism is adapted to the landing gear of the UAV. When the UAV lands on the takeoff and landing platform, it can be positioned and fixed at the center of the platform. Based on the positioning and fixing function of this mechanism, the UAV has a defined position when it descends into the hangar with the platform. For energy replenishment, the UAV can be automatically charged via the designed charging assembly, and its battery can be automatically swapped via the designed battery swapping assembly. The system can intelligently switch and select between these two energy replenishment methods according to mission requirements.

[0016] The centering and positioning mechanism within the lifting and lowering assembly also includes a centering drive device. This drive device comprises a centering motor, a three-axis commutator A, two centering lead screws A, a bevel gear commutator A, and a centering double helical lead screw A. The centering motor drives the two first centering beams and two second centering beams to operate synchronously. The entire centering and positioning device is integrated near the lifting and lowering platform, featuring a flat structure that doesn't occupy much space, thus contributing to the miniaturization of the charging and swapping integrated hangar. The lifting and lowering assembly also includes a lifting and lowering drive device, comprising a lifting and lowering motor, a screw jack, and several guide rods. The lifting and lowering motor drives the lifting and lowering of the platform. The vertically positioned guide rods and the screw jack's lead screw can be located at the edge of the lifting and lowering platform, close to the inner wall of the hangar shell, without occupying lateral space within the hangar. The lateral components consist only of the lifting and lowering motor, drive shaft, and the screw jack's body, which are relatively small and don't occupy much vertical space within the hangar, further contributing to the miniaturization of the charging and swapping integrated hangar.

[0017] The battery swapping assembly includes a battery charging compartment and a battery swapping robotic arm. The robotic arm comprises a base, a rotary drive, a lifting mechanism, a traversing mechanism, and an actuator. The actuator includes an actuator motor, an actuator gear, a torsion shaft, a torsion seat, a spring, and two gripping devices, each consisting of a rack and a gripping arm. This battery swapping robotic arm features a rotary structure, which is more compact and integrated than the three-axis translational robot structure commonly used in existing automated battery swapping hangars, occupying less space and contributing to the miniaturization of the integrated charging and swapping hangar. Through the matching design of the actuator and the drone battery compartment, in battery swapping mode, the operation of the battery knob and both batteries can be completed simultaneously. No additional device or drive component for opening or closing the battery knob is needed in the hangar, further contributing to the miniaturization of the integrated charging and swapping hangar.

[0018] The charging assembly includes a charging base, a charging plug, and an electric push rod. It relies on the positioning and fixing function of the centering and positioning mechanism to fix the charging base directly on a first centering beam to complete the alignment of the charging plug with the charging port on the drone. There is no need to design other automatic moving and aligning devices for the charging plug. The charging assembly has a simple and compact structure and is directly integrated into the take-off and landing platform. It does not occupy the internal space of the hangar and is conducive to the miniaturization of the charging and swapping integrated hangar.

[0019] The propeller assembly includes several propeller mechanisms, each including a propeller motor and a propeller lever. The propeller motor drives the propeller lever to rotate 180 degrees upward, which can move the rotor blades of the UAV extending outside the hangar to a position facing the inside of the hangar. This allows the UAV to smoothly enter the hangar on the take-off and landing platform, which helps to reduce the lateral dimensions of the hangar and thus contributes to the miniaturization of the charging and swapping integrated hangar. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of a drone according to the present invention; Figure 2 This is a schematic diagram of the overall structure of a charging and swapping integrated hangar according to the present invention; Figure 3 for Figure 2 The diagram shows the internal structure of the integrated charging and swapping garage. Figure 4 This is a schematic diagram of the fixed positioning state of the UAV on the take-off and landing platform in this invention; Figure 5 for Figure 4 Schematic diagram of the bottom structure of the mid-lift and landing platform; Figure 6 This is a schematic diagram of the charging component in this invention; Figure 7 This is a schematic diagram of the battery-swapping robotic arm in this invention; Figure 8 for Figure 7 The diagram shows the structural schematics of the traversing mechanism and the actuator in the battery swapping robotic arm. Figure 9 for Figure 7 A top view of the actuator in the battery swapping robotic arm shown; Figure 10 for Figure 9 Schematic diagram of the AA section; Figure 11 for Figure 9 Schematic diagram of the BB section; Figure 12 for Figure 7 The diagram shows the structure of the torsion shaft and torsion seat in the battery swapping robotic arm. Figure 13 for Figure 7A schematic diagram of the switching device in the battery swapping robotic arm shown. Figure 14 This is a diagram illustrating the usage state of a battery swapping unit in a charging and swapping garage according to the present invention. Figure 15 for Figure 14 An enlarged schematic diagram showing the location of the actuator in the indicated state; Figure 16 This is a schematic diagram of the transmission structure within the hatch assembly of the present invention; Figure 17 This is a schematic diagram of the paddle assembly in this invention; In the diagram, 1-fuselage, 2-strut, 3-crossbar, 4-limiting post, 5-partition, 6-battery knob, 7-battery, 8-switch button, 9-charging port, 100-lifting and lowering assembly, 101-lifting and lowering platform, 102-first centering beam, 103-second centering beam, 104-centering motor, 105-three-axis commutator, 106-centering screw A, 107-bevel gear commutator A, 108-centering double helix screw A, 1 09-Bevel gear commutator B, 110-Centering screw B, 111-Bevel gear commutator C, 112-Centering double helical screw B, 113-Bevel gear commutator D, 114-Lifting motor, 115-Screw jack, 116-Guide rod, 200-Battery swapping assembly, 201-Battery charging compartment, 210-Base, 211-Slewing drive device, 220-Lifting mechanism, 221-Column, 222-Lifting motor, 2 23-Lifting screw, 230-Transverse mechanism, 231-Horizontal arm, 232-Mounting base, 233-Transverse motor, 234-Transverse screw, 240-Actuator, 241-Actuator motor, 242-Actuator gear, 243-Torsion shaft, 244-Torsion seat, 245-Spring, 246-Rack, 247-Clamping arm, 248-Switch motor, 249-First link, 250-Second link, 251-Third link Linkage rod, 252-Buffer button, 300-Charging assembly, 301-Charging base, 302-Charging plug, 303-Electric push rod, 400-Hatch cover assembly, 401-Left hatch cover, 402-Right hatch cover, 403-Hatch cover opening / closing motor, 404-Right hatch cover lead screw, 405-Three-axis commutator B, 406-Left hatch cover lead screw, 407-Moving rail, 500-Propeller assembly, 501-Propeller motor, 502-Propeller lever. Detailed Implementation

[0021] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0022] like Figure 1As shown, a drone includes a fuselage 1, landing gear, and four rotors. The four rotors are arranged around the fuselage 1, and the landing gear is located at the bottom of the fuselage 1. The landing gear includes two support members: a strut 2 and a crossbar 3. One end of the strut 2 is fixedly connected to the middle of the crossbar 3, and the other end of the strut 2 is fixedly connected to the bottom of the fuselage 1. The crossbar 3 is horizontally arranged, and two limiting posts 4 are fixedly arranged on the crossbar 3 (in practice, the fixed position of the limiting posts 4 on the crossbar 3 is adjustable). The limiting posts 4 are vertically arranged at a position away from the end of the crossbar 3, and the two limiting posts 4 are symmetrically arranged on both sides of the strut 2. The two support members are symmetrically arranged on both sides of the fuselage 1, and the two struts 2 are spread outward in a V-shape, with the four limiting posts 4 forming a rectangular shape. The fuselage 1 includes a partition 5 and a body with a cross-section of U-shape. The partition 5 is fixedly arranged inside the open end of the body, making one end of the fuselage 1 have an I-shaped cross-section. The two sides of the partition 5 form battery compartments. A battery knob 6 is rotatably mounted at one end of the partition 5. Two battery compartments house batteries 7, which power the drone. When the battery knob 6 is rotated perpendicular to the partition 5, the batteries 7 are secured in the battery compartments to prevent them from falling out. When the battery knob 6 is rotated parallel to the partition 5, the batteries 7 can be pulled out from the end of the drone body 1. A power switch 8 is also located on the top of the drone body 1. Pressing the power switch 8 switches the drone between power on and off. A charging port 9 is horizontally fixed on one of the crossbars 3. Connecting the charging port 9 to an external charging plug allows the batteries 7 in the drone's battery compartments to be charged.

[0023] like Figures 2 to 17 As shown, a charging and battery swapping integrated hangar is applicable to the aforementioned UAV, which includes a shell, and a take-off and landing assembly 100, a battery swapping assembly 200 and a charging assembly 300 are arranged inside the shell.

[0024] like Figure 4 , Figure 5As shown, the take-off and landing assembly 100 includes a take-off and landing platform 101 and a centering and positioning mechanism. The centering and positioning mechanism includes two first centering beams 102 and two second centering beams 103. The platform of the take-off and landing platform 101 is arranged in a horizontal direction. The first centering beams 102 are arranged parallel to each other above the platform of the take-off and landing platform 101. The second centering beams 103 are arranged above the first centering beams 102 and are parallel to the platform of the take-off and landing platform 101. The two first centering beams 102 are parallel to each other and can move closer or further apart. The first centering beams 102 are adapted to the crossbar 3. After the drone lands on the platform 101, the bottom of the crossbar 3 contacts the platform 101. As the two first centering beams 102 move closer together, the drone's position can be gradually adjusted through the contact between the first centering beams 102 and the crossbar 3. Ultimately, the drone can be adjusted to the center position on the platform 101, perpendicular to the direction of the first centering beams 102. The two first centering beams 102 also hold the two ends of the drone's tripod. The crossbar 3 is clamped inward; the two second centering beams 103 are parallel to each other and can move closer or further apart. The second centering beams 103 are adapted to the limiting post 4. After the drone lands on the platform 101, as the two second centering beams 103 move closer together, the position of the drone can be gradually adjusted by the contact between the second centering beams 103 and the limiting post 4. The drone is adjusted to the middle position on the platform 101 perpendicular to the direction of the second centering beams 103, and the limiting post 4 of the drone's tripod is clamped inward by the two second centering beams 103. The projections of the two first centering beams 102 and the two second centering beams 103 along the vertical direction form a grid pattern. By synchronously bringing the two first centering beams 102 and the two second centering beams 103 together, the UAV can be positioned at the center of the take-off and landing platform 101. The height of the second centering beams 103 is also adapted to the crossbar 3. When the two second centering beams 103 clamp the UAV's limiting posts 4 inward, the second centering beams 103 also extend beyond the end of the crossbar 3, restricting the end of the crossbar 3 between the bottom surface of the second centering beams 103 and the top surface of the take-off and landing platform 101. Combined with the clamping effect of the two first centering beams 102 on the two crossbars 3 and the clamping effect of the two second centering beams 103 on the four limiting posts 4, this centering positioning mechanism can fix the UAV at the center of the take-off and landing platform 101. The centering and positioning mechanism achieves the centering and positioning of the UAV by the translational movement of two first centering beams 102 and two second centering beams 103. Theoretically, as long as the UAV lands on the take-off and landing platform 101, it can be centered on the center of the take-off and landing platform 101, and the positional accuracy requirement for the UAV landing is relatively low.

[0025] Both the battery swapping component 200 and the charging component 300 are compatible with the centering and positioning mechanism. As long as the drone lands on the take-off and landing platform 101, the centering and positioning mechanism can locate and fix the drone in the center position on the take-off and landing platform 101. Thus, after the take-off and landing platform 101 carries the drone down into the shell, the drone also has a definite position. The battery swapping component 200 and the charging component 300 are arranged according to the definite position of the drone. Under automatic control, the battery 7 of the drone can be replaced by the battery swapping component 200, or the drone can be charged by the charging component 300.

[0026] In implementation, the aforementioned centering and positioning mechanism also includes a centering drive device, such as... Figure 5As shown, the centering drive device includes a centering motor 104, a three-axis commutator A105, two centering lead screws A106, a bevel gear commutator A107, and a centering double helical lead screw A108. The centering motor 104, the three-axis commutator A105, and the bevel gear commutator A107 are all fixedly connected to the lifting platform 101. The centering lead screws A106 and the centering double helical lead screw A108 are rotatably mounted on the lifting platform 101. The two centering lead screws A106 are coaxially arranged, and the centering lead screws A106 and A108 are perpendicular to each other. The three-axis commutator A105 includes an input shaft arranged in a T-shape and two output shafts. Within the three-axis commutator A105, bevel gears are provided at the ends of both the input shaft and the two output shafts. The bevel gear at the end of the input shaft meshes simultaneously with the bevel gears at the ends of the two output shafts. The output shaft of the centering motor 104 is fixedly connected to the input shaft of the three-axis commutator A105. One end of each of the two centering screws A106 is fixedly connected to the two output shafts of the three-axis commutator A105. The other end of one centering screw A106 is fixedly connected to one end of a bevel gear commutator A107, and the other end of the bevel gear commutator A107 is fixedly connected to one end of a centering double helix screw A108. The centering motor 104 can drive the two centering screws A106 and the double helix screw A108 to rotate synchronously. Furthermore, when the three-axis commutator A105 is switched on, the two centering screws A106 rotate synchronously in the opposite direction. One end of each of the two first centering beams 102 is threadedly connected to two centering screws A106. The centering double helix screw A108 has a forward-rotating thread section and a reverse-rotating thread section respectively located away from the center. One end of each of the two second centering beams 103 is threadedly connected to the forward-rotating thread section and the reverse-rotating thread section respectively. Both the centering screws A106 and the centering double helix screw A108 are adapted to the size of the UAV's landing gear. When the centering motor 104 is started, the synchronous reverse rotation of the two centering screws A106 can drive the two first centering beams 102 to move closer to each other (or further apart). At the same time, the rotation of the centering double helix screw A108 can drive the two second centering beams 103 to move closer to each other (or further apart). Thus, the centering positioning device can be driven and controlled by one centering motor 104, fixing the UAV in the center position on the take-off and landing platform 101.

[0027] In implementation, the end of the first centering beam 102 furthest from the centering screw A105 and the end of the second centering beam 103 furthest from the centering double helix screw A108 can be slidably connected to the take-off and landing platform 101 by means of guide rods, slide rails, etc. However, in this implementation, since the first centering beam 102 or the second centering beam 103 transmits force only from one end of the thread, the reliability of centering and fixing the UAV may be poor. As another implementation scheme, such as Figure 5As shown, the centering drive device also includes a bevel gear commutator B109, a bevel gear commutator C111, a bevel gear commutator D113, a centering double helical screw B112, and two centering screws B110. The bevel gear commutators A107, B109, C111, and D113 are fixed at the four corners of the bottom surface of the lifting platform 101. The centering double helical screw B112 and the two centering screws B110 are rotatably connected to the lifting platform 101; one centering screw... One end of B110 is fixedly connected to one end of the bevel gear commutator B109, and the other end of the bevel gear commutator B109 is fixedly connected to the end of the centering double helical screw A108 away from the bevel gear commutator A107; one end of another centering screw B110 is fixedly connected to one end of the bevel gear commutator C111, and the other end of the bevel gear commutator C111 is fixedly connected to one end of the centering double helical screw B112, and the other end of the centering double helical screw B112 is fixedly connected to one end of the bevel gear commutator D113. The other end of the commutator D113 is fixedly connected to the end of the centering screw A106, which is away from the bevel gear commutator A107. This allows the centering motor 104 to synchronously drive the centering screws and the centering double helix screw to rotate. The centering double helix screw B112 is parallel to and adapted to the centering double helix screw A108. The two ends of the second centering beam 103 are threadedly connected to the centering double helix screws B112 and A107, respectively. The centering screw B110 is parallel to and adapted to the centering screw A106. The first centering... Both ends of beam 102 are threadedly connected to the opposing centering lead screws B110 and A106, respectively. When the centering motor 104 synchronously drives each centering lead screw and the centering double helix lead screw to rotate, both ends of the first centering beam 102 and both ends of the second centering beam 103 are driven by the threads to transmit force, which is beneficial to improving the reliability of the UAV's centering and positioning. However, it should be understood that the machining and assembly precision requirements of each centering lead screw and the centering double helix lead screw in this implementation scheme are relatively high. In actual situations, the above two implementation schemes can be selected as appropriate according to the needs.

[0028] The aforementioned centering and positioning mechanism can realize the centering and positioning of the UAV on the take-off and landing platform 101. The two first centering beams 102, the two second centering beams 103, and the centering drive device are all integrated on the take-off and landing platform 101. The entire centering and positioning device is based on the flat structure of the take-off and landing platform 101, which will not occupy too much space and is conducive to the miniaturization of the charging and swapping integrated hangar.

[0029] like Figure 4 , Figure 6As shown, the charging assembly 300 includes a charging base 301, a charging plug 302, and an electric push rod 303. The charging base 301 is fixedly mounted on a first centering beam 102. The charging plug 302 is slidably connected to the charging base 301. The two ends of the electric push rod 303 are fixedly connected to the charging plug 302 and the charging base 301, respectively. The charging plug 302 is compatible with the charging port 9. Since the above-mentioned centering and positioning mechanism can realize the centering and positioning of the UAV on the take-off and landing platform 101, the charging assembly can be directly fixedly mounted on a suitable position on a first centering beam 102. When the UAV is centered and positioned on the take-off and landing platform 101, the charging plug 302 and the charging port 9 can be directly aligned. After alignment, the charging plug 302 is pushed towards the charging port 9 by the electric push rod 303, which can directly realize the insertion of the charging plug 302 and the charging port 9. The charging component 300 relies on the centering and positioning mechanism to fix the drone in place, eliminating the need for other automatic moving and aligning charging plug devices. The charging component 300 has a simple and compact structure and is directly integrated on the take-off and landing platform 101, without occupying internal hangar space, which is conducive to the miniaturization of the charging and swapping hangar.

[0030] like Figure 3 , Figures 7 to 15 As shown, the battery swapping assembly 200 includes a battery charging compartment 201 and a battery swapping robotic arm. The battery charging compartment 201 and the robotic arm are housed within a casing. The battery charging compartment 201 includes several charging zones arranged from top to bottom, and each charging zone includes two charging cells arranged side-by-side. The shape of the charging zones is similar to... Figure 1 The UAV shown has an I-shaped cross-section at the end, meaning the two charging slots in the charging area correspond to the two charging compartments of the UAV. The battery-swapping robotic arm is used to replace the UAV's battery 7 with the battery in the battery charging compartment 201. Specifically, during replacement, at least one charging area in the battery charging compartment 201 is empty, and at least one charging area contains a spare battery. The battery-swapping robotic arm first removes the UAV's battery 7, then inserts the removed battery 7 into the empty charging area for charging. Next, the robotic arm removes the spare battery from the other charging area and inserts it into the UAV's charging compartment, completing the battery replacement. Since the centering and positioning mechanism enables the UAV to be centered and fixed on the take-off and landing platform 101, the UAV has a defined position when it descends into the housing with the platform 101. Based on the position of the UAV within the housing, the battery charging compartment 201 and the battery-swapping robotic arm are arranged in suitable locations. The automatic control function of the battery-swapping robotic arm enables automatic battery replacement for the UAV.

[0031] In implementation, such as Figure 14 As shown, the battery swapping robotic arm includes a base 210, a rotary drive device 211, a lifting mechanism 220, a traversing mechanism 230, and an execution mechanism 240. Specifically... Figure 7 As shown, the lifting mechanism 220 includes a column 221 and a lifting drive device, and the lateral movement mechanism 230 includes a horizontal arm 231, a mounting base 232, and a lateral movement drive device. The base 210 is fixedly installed inside the housing. The column 221 is vertically positioned, with its bottom end rotatably connected to the top end of the base 210. The rotation drive device drives the column 221 to rotate on the base 210. The centering positioning mechanism positions the UAV and the battery charging compartment 201 in the radial direction of the column 221's rotation on the base 210. The horizontal arm 231 is horizontally positioned, with one end slidably connected to the column 221. The lifting drive device drives the horizontal arm 231 to slide on the column. The mounting base 232 is slidably mounted on the horizontal arm 231, and the lateral movement drive device drives the mounting base 232 to slide on the horizontal arm 231. The aforementioned rotary drive device 211, lifting drive device, and lateral drive device can be selected as needed. In this embodiment, the rotary drive device 211 can be directly selected as a motor-driven worm gear mechanism or bevel gear transmission mechanism, etc.; the lifting drive device includes a lifting motor 222 and a lifting screw 223. The lifting screw 223 is rotatably connected to the column 221, and the cross arm 231 is threadedly connected to the lifting screw 223. The lifting motor 222 is used to drive the lifting screw 223 to rotate, which constitutes a screw... The lifting and lateral drive mechanism includes a lifting screw 223 that rotates to raise or lower the horizontal arm 231. The lateral drive device comprises a lateral motor 233 and a lateral screw 234, which is rotatably connected to the horizontal arm 231. A mounting base 232 is threadedly connected to the lateral screw 234. The lateral motor 233 drives the lateral screw 234 to rotate, thus forming a screw-nut mechanism. When the lateral motor 233 drives the lateral screw 234 to rotate, it causes the mounting base 232 to slide back and forth on the horizontal arm 231. This lifting and lateral drive device employs a screw-nut mechanism design, allowing the corresponding components to be integrated into the column 221 or the horizontal arm 231. Furthermore, based on the characteristics of the screw-nut mechanism, accurate control of lifting or lateral movement can be achieved, and self-locking is possible.

[0032] like Figures 8 to 12As shown, the actuator 240 includes an actuator motor 241, an actuator gear 242, a torsion shaft 243, a torsion seat 244, a spring 245, and two clamping devices. The clamping devices include a rack 246 and a clamping arm 247. The rack 246 is slidably mounted on the mounting base 232. The clamping arm 247 is fixedly connected to the rack 246. The clamping arm 247 extends horizontally toward the side of the mounting base 232 away from the column 221. A bent portion is formed at the end of the clamping arm 247 away from the mounting base 232. The bent portion is adapted to the end of the UAV battery 7 away from the battery knob 6. The actuator 241 is fixedly mounted on the mounting base 232. The actuator gear 242 is fixedly sleeved on the output shaft of the actuator 241 and meshes with the rack 246. One end of the torsion shaft 243 is coaxially and fixedly connected to the end of the actuator gear 242 away from the actuator 241. The other end of the torsion shaft 243 is coaxially and slidably connected to one end of the torsion seat 244. The other end of the torsion seat 244 is machined with a slot that is adapted to the battery knob 6 of the drone and to the end of the drone's battery 7 near the battery knob 6. The spring 245 is used to provide elastic force to move the torsion shaft 243 and the torsion seat 244 away from each other. The two clamping devices are centrally symmetrically arranged. The axis of the actuator gear 242 is perpendicular to the rotation axis of the column 221 relative to the base 210. The two clamping arms 247 are located in the same horizontal plane and are symmetrical about the actuator gear 242. The two clamping arms 247 can move closer to each other or further apart. When the actuator 241 drives the actuator gear 242 to rotate, on the one hand, the torsion shaft 243 drives the torsion seat 244 to rotate, and on the other hand, under the meshing cooperation of the actuator gear 242 and the two racks 246, the two racks 246 are driven to slide synchronously in opposite directions, thereby causing the two clamping arms 247 to move closer to each other or further away from each other. In practice, the speed ratio of the actuator 241 and the actuator gear 242 is accurately designed so that when the actuator gear 242 rotates 90 degrees, the two clamping arms 247 can just close to the width of the two batteries 7 on the drone.

[0033] The specific battery swapping process of this integrated charging and swapping hangar is as follows: S1. In the initial state, the battery swapping robotic arm rotates to the direction in which the actuator 240 faces the battery charging compartment 201; S2. The drone lands on the take-off and landing platform 101 and is positioned and fixed by the centering positioning mechanism. Then the take-off and landing platform 101 carries the drone down into the hangar. S3. The column 221 is rotated by the rotary drive device 211 and the height of the actuator 240 is adjusted by the lifting drive device so that the actuator 240 is facing the battery compartment of the drone. Then, the mounting base 232 and the actuator 240 are moved forward to a set position close to the drone battery compartment by the transverse drive device. At this set position, the torsion seat 244 is pressed forward to the end of the partition 5 under the elastic force of the spring 245, and the battery knob 6 of the drone (the electromagnetic knob 6 is in the horizontal position of being closed) is inserted into the slot at the front end of the torsion seat 244. S4. The actuator 241 drives the actuator gear 242 to rotate 90 degrees. On the one hand, the torsion seat 244 rotates 90 degrees under the transmission of the torsion shaft 243, which drives the battery knob 6 to rotate to the vertical position and open the battery knob 6. On the other hand, under the drive of the two racks 246, the two clamping arms 247 move closer to each other, so that the bent part at the front end of the two clamping arms 247 extends into the end of the battery 7 away from the battery knob 6. S5. Because the battery knob 6 is in a vertical position and overlaps with the partition 5, the spring force of the spring 245 allows the torsion seat 244 to continue moving forward, causing the solid parts on both sides of the front groove of the torsion seat 244 to press against the ends of the two batteries 7 near the battery knob 6. At this time, if... Figure 9 As shown, the two batteries 7 are clamped between the torsion seat 244 and the bent portion at the front end of the two clamping arms 247, and a gap of the thickness of the partition plate 5 is maintained between the two batteries 7. S6. The mounting base 232 and the actuator 240 are driven to retract by the transverse drive device, and the clamped battery 7 is removed from the drone body 1 and moved to a position away from the drone. S7. The column 221 is rotated by the rotary drive device 211 and the height of the actuator 240 is adjusted by the lifting drive device so that the actuator 240 and the clamped battery 7 are facing the empty charging area in the battery charging compartment 201. Then, the mounting base 232 and the actuator 240 are moved forward by the transverse drive device to insert the battery 7 into the empty charging area for charging. S8. By rotating the actuator 241 90 degrees, the two clamping arms 247 are moved away from each other to release the battery 7. Then, the height is adjusted by the lifting drive device so that the actuator 240 is directly facing the spare battery position in the battery charging compartment 201. Then, by reversing the actuator 241 90 degrees, the two clamping arms 247 are moved closer together to clamp the spare battery. This clamping state is still... Figure 9 As shown in the figure, the mounting base 232 and the actuator 240 are then pulled out by the transverse drive device. S9. The column 221 is rotated by the rotary drive device and the height is adjusted by the lifting drive device so that the actuator 240 is facing the battery compartment of the drone. Then, the mounting base 232 and the actuator 240 are moved forward to a set position close to the drone battery compartment by the transverse drive device. At this set position, the two spare batteries are inserted into the two battery compartments of the drone respectively. At the same time, the slot at the end of the twist seat 244 is engaged with the vertical battery knob 6. S10. By rotating the motor 241 90 degrees, the two clamping arms 247 move away from each other. On the one hand, the torsion seat 244 drives the battery knob 6 to rotate to a horizontal state to lock the replaced spare battery. On the other hand, the two clamping arms 247 move away from each other so that the bent part at the end avoids the end of the replaced spare battery. S11. The mounting base 232 and the actuator 240 are moved back by the transverse drive device, and the column 221 is rotated by the rotary drive device 211, so that the actuator 240 is directed toward the battery charging compartment 201 and returns to the initial state.

[0034] Based on the above, the positioning and fixing function of the UAV by the centering and positioning mechanism, as well as the design of the battery swapping robotic arm structure and the battery compartment structure in the UAV, the battery swapping component 200 can automatically replace the two batteries 7 in the UAV. In battery swapping mode, the battery knob 6 can be turned on (or off) and the two batteries 7 can be clamped (or released) simultaneously by rotating the actuator 241 90 degrees. There is no need to set up a separate device and drive element for opening or closing the battery knob 6 in the hangar, which is conducive to the miniaturization of the charging and swapping integrated hangar. At the same time, the above-mentioned battery swapping robotic arm is actually a rotary robotic arm structure. Compared with the three-axis translational robot structure structure commonly used in existing automatic battery swapping hangars (such as a UAV battery swapping hangar and UAV battery swapping method with application number CN202111088451.1, and a UAV hangar with application number CN202222242965.4, etc.), its structure is more integrated and occupies less space, which is conducive to the miniaturization of the charging and swapping integrated hangar.

[0035] Furthermore, such as Figure 8 , Figure 13As shown, the actuator 240 also includes a switching device, which includes a switch motor 248, a first link 249, a second link 250, and a third link 251. The two ends of the first link 249 are rotatably connected to one end of the third link 251 and the mounting base 232, respectively. The two ends of the second link 250 are rotatably connected to the middle of the third link 251 and the mounting base 232, respectively. The first link 249, the third link 251, the second link 250, and the mounting base 232 form a parallelogram mechanism. A buffer button 252 is provided at the end of the third link 251 away from the first link 249. The switch motor 248 is used to drive the first link 249 or the second link 250 to swing around the mounting base 232. The buffer button 252 is compatible with the switch button 8 of the UAV. Before or after removing the battery from the drone, the first link 249 or the second link 250 is swung by the switch motor 248, which further drives the third link 251 to move forward parallel to the mounting base 232. Based on the positioning and fixing function of the centering positioning mechanism for the drone, the position of the switch device matches the positioning position of the centering positioning mechanism. When the third link 251 moves forward parallel to the mounting base 232, it can... Figure 15 As shown, the buffer button 252 can press the switch button 8. The switch device is driven independently by the switch motor 248. After the switch button 8 is pressed, the third linkage 251 can be driven to retract. The switch button 8 is a push-button switch, which can turn the drone on or off by pressing it, avoiding plugging and unplugging the battery while it is powered on during battery swapping. This switch mechanism is directly mounted on the mounting base 232 and integrated into the battery swapping robotic arm. There is no need to set up a separate switch device to start or disconnect the drone power in other locations in the hangar, which is conducive to the miniaturization of the charging and swapping integrated hangar.

[0036] In specific implementation, such as Figures 1 to 6 , Figure 16 , Figure 17As shown, the top of the housing has an opening. The take-off and landing assembly 100 also includes a take-off and landing drive device, which drives the take-off and landing platform 101 to rise and fall. When the take-off and landing platform 101 is raised, it is flush with the opening end of the housing. When the drone returns to the hangar to land, the take-off and landing platform 101 is first raised by the take-off and landing drive device to pick up the drone. Then, the drone is centered and positioned at the center of the take-off and landing platform 101 by the centering and positioning mechanism and fixed. Afterward, the take-off and landing platform 101 is lowered by the take-off and landing drive device, and the drone falls into the hangar along with the take-off and landing platform 101. It should be understood that when this integrated charging and battery swapping hangar is in use, the charging process of the aforementioned charging assembly 300 or the battery swapping process of the battery swapping assembly 200 are carried out after the drone has fallen into the hangar. Since the drone needs to enter and exit the hangar through the opening at the top of the shell, the size of the opening at the top of the shell should be larger than the projected size of the drone. In this embodiment, based on the centering positioning mechanism, the drone can be positioned and fixed at the center of the take-off and landing platform 101. In order to minimize the volume of the charging and swapping integrated hangar, the size of the take-off and landing platform 101 is designed to be approximately the same as the projected size of the drone, and the size of the take-off and landing platform 101 is designed to be slightly smaller than the size of the opening at the top of the shell, thereby reducing the lateral width of the charging and swapping integrated hangar.

[0037] The lifting and lowering drive device can be any structure capable of driving the lifting and lowering platform 101 to rise and fall, such as a scissor lift, etc. In this embodiment, for example... Figure 3 , Figure 14As shown, the lifting and lowering drive device includes a lifting and lowering motor 114, a screw jack 115, and several guide rods 116. The lifting and lowering motor 114, screw jack 115, and guide rods 116 are all fixedly installed inside the hangar shell. The lead screws of the guide rods 116 and the screw jack 115 are both vertically arranged. The output lead screw nut of the screw jack 115 is fixedly connected to the lifting and lowering platform 114, and the lifting and lowering platform 101 is slidably connected to the guide rods 116. The lifting and lowering motor 114 drives the input shaft of the screw jack 115 to rotate. Starting the lifting and lowering motor 114 further drives the lead screw of the screw jack 115 to rotate. Since the lifting and lowering platform 101, which is fixedly connected to the output lead screw nut of the screw jack 115, has its rotational freedom restricted by the guide rods 116, this constitutes a lead screw and nut mechanism. When the lead screw of the screw jack 115 rotates, it further drives the lifting and lowering platform 101 to rise and fall. In practical implementation, there are four guide rods 116, located near the four corners of the lifting platform 101. There are two screw lifts 115, symmetrically arranged near the edge of the lifting platform 101. The lifting motor 114 is a dual-output shaft motor, which drives the two screw lifts 115 synchronously through two drive shafts, maintaining balanced force on the lifting platform 101 during lifting. In this lifting drive device, the vertically arranged guide rods 116 and the lead screws of the screw lifts 115 can be located at the edge of the lifting platform 101, close to the inner wall of the hangar shell, without occupying the lateral space inside the hangar. The only laterally arranged components are the lifting motor 114, the drive shaft, and the body of the screw lifts 115, which are small in size and do not occupy too much vertical space inside the hangar, thus contributing to the miniaturization of the charging and swapping integrated hangar.

[0038] like Figure 3 , Figure 17 As shown, the integrated charging and swapping hangar also includes a propeller assembly 500, which comprises several propeller mechanisms. Each propeller mechanism includes a propeller motor 501 and a propeller rod 502. One end of the propeller rod 502 is fixedly connected to the output shaft of the propeller motor 501. The propeller motor 501 is fixedly connected to the hangar's shell, and its output shaft is parallel to the horizontal direction. The propeller rod 502 is located at the top opening of the shell. In specific implementations, due to... Figure 1 The drone shown is a quadcopter with four propeller-shifting mechanisms installed on the inner wall of the casing opening. Each mechanism corresponds to one of the drone's rotors. After the drone is centered on the landing platform 101, the rotor blades' orientation is uncertain. If the hangar's lateral dimensions are too small, the rotor blades may interfere with the hangar casing, preventing the drone from successfully descending into the hangar. These propeller-shifting mechanisms are used to move the rotor blades, such as... Figure 3As shown, after the UAV is centered on the landing platform 101, the propeller motor 501 drives the propeller lever 502 to rotate upwards by 180 degrees. The propeller lever 502 can rotate the rotor blades extending out of the housing to the area directly opposite inside the housing, allowing the UAV to descend smoothly into the hangar. Therefore, based on the positioning and fixing function of the centered positioning mechanism for the UAV, the propeller assembly 500 can minimize the lateral dimensions of the hangar, which is beneficial for the miniaturization of this integrated charging and swapping hangar.

[0039] like Figure 2 , Figure 16As shown, a hatch assembly 400 is also provided at the top opening of the hangar shell. The hatch assembly 400 includes a left hatch 402, a right hatch 401, a hatch opening / closing motor 403, a right hatch lead screw 404, a three-axis commutator B405, and a left hatch lead screw 406. The left hatch 402 and the right hatch 401 are slidably connected to the shell and can move closer or further apart. The hatch opening / closing motor 403 and the three-axis commutator B405 are fixedly connected to the shell, and the right hatch lead screw 404 and the left hatch lead screw 406 are rotatably connected to the shell. The right hatch screw 404 and the left hatch screw 406 are coaxially arranged. One end of the right hatch screw 404 and one end of the left hatch screw 406 are respectively fixedly connected to the two output shafts of the three-axis commutator B405 (the three-axis commutator B405 includes an input shaft and two output shafts arranged in a T-shape. In the three-axis commutator B405, the end of the input shaft and the end of the two output shafts are provided with bevel gears. The bevel gear at the end of the input shaft meshes with the bevel gears at the ends of the two output shafts simultaneously). The left hatch 402 is threadedly connected to the left hatch screw 406, and the right hatch 401 is threadedly connected to the right hatch screw 404. The left hatch 402 and the right hatch 401, together with the left hatch screw 406 and the right hatch screw 404, respectively, form a screw and nut mechanism. The hatch opening / closing motor 403 drives the right hatch screw 404 or the left hatch screw 406 to rotate. Under the transmission of the three-axis commutator B405, the right hatch screw 404 and the left hatch screw 406 rotate in opposite directions, which can drive the left hatch 402 and the right hatch 401 to move closer or further apart. A handwheel is provided at the end of the input shaft of the three-axis commutator B405, which can also be used to manually control the left hatch 402 and the right hatch 401 to slide on the hull. When the left hatch 402 and the right hatch 401 move away from each other, the top opening of the hull is open, and the UAV can smoothly enter and exit the hangar on the take-off and landing platform 101; when the left hatch 402 and the right hatch 401 move closer to each other, the top opening of the hull can be closed, and the interior of the hangar is in a shielded and protected state. In practical implementation, two movable rails 407 are slidably installed at the top opening of the hangar shell. The left hatch 402 and the right hatch 401 are fixedly connected to the two movable rails 407 respectively, and the left hatch screw 406 and the right hatch screw 404 are threadedly connected to the two movable rails 407 respectively. The hatch assembly 400 is integrated at the top opening of the hangar shell, and its overall structure is flat, which also helps to reduce the size of the charging and swapping integrated hangar.

[0040] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A drone charging and swapping integrated hangar, applicable to a drone, the drone including a fuselage and landing gear, the landing gear including two support members, each support member including a strut and a crossbar, one end of the strut being fixedly connected to the middle of the crossbar, the other end of the strut being fixedly connected to the bottom of the fuselage, the crossbar being horizontally arranged, two limiting posts being fixedly arranged on the crossbar, the limiting posts being vertically arranged away from the end of the crossbar, the two limiting posts being symmetrically arranged on both sides of the strut, and the two support members being symmetrically arranged on both sides of the fuselage; the fuselage The device includes a partition and a body with a U-shaped cross-section. The partition is fixedly installed inside the open end of the body, making one end of the fuselage have an I-shaped cross-section. Battery compartments are formed on both sides of the partition. A battery knob is rotatably installed at one end of the partition. A battery is installed inside the battery compartment and is used to power the drone. The battery knob is used to lock the battery into the battery compartment. A power switch is installed on the top of the fuselage and is used to control the power on or off of the drone. A charging port is fixedly installed on one of the crossbars and is used to charge the battery in the battery compartment. Its features are, The integrated charging and battery swapping hangar for drones includes a shell, within which a battery swapping assembly, a take-off and landing assembly, and a charging assembly are installed; The takeoff and landing assembly includes a takeoff and landing platform and a centering and positioning mechanism. The centering and positioning mechanism includes two first centering beams and two second centering beams. The platform surface of the takeoff and landing platform is arranged horizontally. The first centering beams are arranged parallel to and above the platform surface of the takeoff and landing platform. The second centering beams are arranged above the first centering beams and are parallel to the platform surface of the takeoff and landing platform. The two first centering beams are parallel to each other, and can be close to or far from each other. The first centering beams are adapted to the crossbar. The two second centering beams are parallel to each other and can be close to or far from each other. The second centering beams are compatible with the limiting posts and crossbars. The projections of the two first centering beams and the two second centering beams along the vertical direction form a grid shape; Both the battery swapping component and the charging component are adapted to the centering and positioning mechanism. The battery swapping component is used to replace the drone's battery, and the charging component is used to charge the drone.

2. The integrated charging and battery swapping hangar for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The centering positioning mechanism also includes a centering drive device, which comprises a centering motor, a three-axis commutator A, two centering lead screws A, a bevel gear commutator A, and a centering double helical lead screw A. The centering motor, the three-axis commutator A, and the bevel gear commutator A are all fixedly connected to the lifting platform. The centering lead screws A and the centering double helical lead screw A are rotatably mounted on the lifting platform. The two centering lead screws A are coaxially arranged, and the centering lead screw A is perpendicular to the centering double helical lead screw A. The output shaft of the centering motor is fixedly connected to the input shaft of the three-axis commutator A. One end of each of the two centering lead screws A is fixedly connected to the two output shafts of the three-axis commutator A. The other end of one centering lead screw A is fixedly connected to one end of the bevel gear commutator A. The other end of the bevel gear commutator A is fixedly connected to one end of the centering double helix lead screw A. One end of each of the two first centering beams is threadedly connected to two centering screws A. The centering double helix screws A are respectively provided with a forward thread section and a reverse thread section away from the center. One end of each of the two second centering beams is threadedly connected to the forward thread section and the reverse thread section respectively. Both the centering screws A and the centering double helix screws A are adapted to the landing gear of the UAV.

3. The integrated charging and battery swapping hangar for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The charging assembly includes a charging base, a charging plug, and an electric push rod. The charging base is fixedly mounted on a first centering beam. The charging plug is slidably connected to the charging base. The two ends of the electric push rod are fixedly connected to the charging plug and the charging base, respectively. The charging plug is adapted to the charging port.

4. The integrated charging and battery swapping hangar for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The housing has an opening at the top, and the lifting assembly also includes a lifting drive device for driving the lifting platform to rise and fall. When the lifting platform is raised, it is flush with the opening end of the housing.

5. The integrated charging and swapping hangar for unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, The lifting and lowering drive device includes a lifting and lowering motor, a screw jack, and several guide rods. The lifting and lowering motor, the screw jack, and the guide rods are all fixedly connected to the housing. The guide rods and the lead screw of the screw jack are both vertically arranged. The lifting and lowering motor is used to drive the input shaft of the screw jack to rotate. The output lead screw nut of the screw jack is fixedly connected to the lifting and lowering platform. The lifting and lowering platform is slidably connected to the guide rods.

6. The integrated charging and swapping hangar for unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, It also includes a propeller assembly, which includes several propeller mechanisms. Each propeller mechanism includes a propeller motor and a propeller rod. One end of the propeller rod is fixedly connected to the output shaft of the propeller motor. The propeller motor is fixedly connected to the housing. The output shaft of the propeller motor is parallel to the horizontal direction. The propeller rod is located at the top opening of the housing.

7. The integrated charging and swapping hangar for unmanned aerial vehicles (UAVs) according to claim 4, characterized in that, The top opening of the hull is also equipped with a hatch assembly, which includes a left hatch, a right hatch, a hatch opening and closing motor, a right hatch lead screw, a three-axis commutator B, and a left hatch lead screw. The left and right hatches are both slidably connected to the shell, and can move closer together or further apart. The hatch opening and closing motors and the three-axis commutator B are both fixedly connected to the shell, and the right hatch lead screw and the left hatch lead screw are both rotatably connected to the shell. The right hatch screw and the left hatch screw are coaxially arranged. One end of the right hatch screw and one end of the left hatch screw are respectively fixedly connected to the two output shafts of the three-axis commutator B. The left hatch is threadedly connected to the left hatch screw, and the right hatch is threadedly connected to the right hatch screw. The hatch opening and closing motor is used to drive the right hatch screw or the left hatch screw to rotate.

8. The integrated charging and battery swapping hangar for unmanned aerial vehicles (UAVs) according to claim 1, characterized in that, The battery swapping assembly includes a battery charging compartment and a battery swapping robotic arm, which are disposed within the housing. The battery charging compartment includes several charging areas arranged from top to bottom, and each charging area includes two charging cells arranged side by side. The shape of the charging area is adapted to the I-shaped end shape of the drone's fuselage cross-section. The battery swapping robotic arm is used to replace the drone's battery and the battery in the battery charging compartment.

9. A drone charging and swapping integrated hangar according to claim 8, characterized in that, The battery swapping robotic arm includes a base, a rotary drive device, a lifting mechanism, a traversing mechanism, and an execution mechanism; The lifting mechanism includes a column and a lifting drive device. The lateral movement mechanism includes a horizontal arm, a mounting base, and a lateral movement drive device. The base is fixedly installed inside the housing. The column is vertically installed, and the bottom end of the column is rotatably connected to the top end of the base. The rotation drive device is used to drive the column to rotate on the base. The positioning position of the drone and the installation position of the battery charging compartment of the centering positioning mechanism are both located in the radial direction of the rotation of the column on the base. The horizontal arm is horizontally installed, and one end of the horizontal arm is slidably connected to the column. The lifting drive device is used to drive the horizontal arm to slide on the column. The mounting base is slidably installed on the horizontal arm. The lateral movement drive device is used to drive the mounting base to slide on the horizontal arm. The actuator includes an actuator motor, an actuator gear, a torsion shaft, a torsion seat, a spring, and two clamping devices. The clamping device includes a rack and a clamping arm. The rack is slidably mounted on the mounting base, and the clamping arm is fixedly connected to the rack. The clamping arm extends horizontally towards the side of the mounting base away from the column. A bent portion is formed at the end of the clamping arm away from the mounting base, and the bent portion is adapted to the end of the drone's battery away from the battery knob. The actuator motor is fixedly mounted on the mounting base, and the actuator gear is fixedly sleeved on the output shaft of the actuator motor. The actuator gear meshes with the rack. One end of the torsion shaft is coaxially and fixedly connected to the end of the actuator gear away from the actuator motor. The other end of the torsion shaft is coaxially and slidably connected to one end of the torsion seat. The other end of the torsion seat is adapted to the drone's battery knob and to the end of the drone's battery near the battery knob. The spring provides a spring force to move the torsion shaft and the torsion seat away from each other. The two clamping devices are arranged symmetrically at the center. The axis of the actuating gear is perpendicular to the rotation axis of the column relative to the base. The two clamping arms are located in the same horizontal plane and are symmetrical about the left and right with the actuating gear as the center. The two clamping arms can move closer to each other or further away from each other.

10. A drone charging and swapping integrated hangar according to claim 9, characterized in that, The actuator further includes a switching device, which comprises a switch motor, a first link, a second link, and a third link. The two ends of the first link are rotatably connected to one end of the third link and the mounting base, respectively. The two ends of the second link are rotatably connected to the middle of the third link and the mounting base, respectively. The first link, the third link, the second link, and the mounting base form a parallelogram mechanism. A buffer button is provided at the end of the third link away from the first link. The switch motor is used to drive the first link or the second link to swing around the mounting base. The buffer button is adapted to the switch button of the UAV.

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