A drone hangar with charging and battery swapping capabilities

Abstract

This invention discloses a drone hangar with charging and battery swapping functions, relating to the field of drone hangar technology. It includes a hangar structure, a drone alignment platform, a charging and battery swapping bracket, a battery swapping robotic arm, and a battery swapping robotic hand. The hangar structure comprises a hangar shell with hangar opening and closing components installed on it. The drone alignment platform includes a drone landing platform located within a rectangular through-slot at the top of the hangar shell. Two alignment horizontal plates are positioned above the drone landing platform, each connected to an alignment longitudinal movement drive component. Two hollow alignment vertical plates are also positioned above the drone landing platform. This drone hangar with charging and battery swapping functions can store and park drones. Drones can take off and land autonomously without human intervention, and can automatically replace batteries and add pesticides, thus improving operational efficiency and safety.

Description

Technical Field

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

[0002] Drones have gradually become standard equipment for new farmers, playing a vital role in the agricultural field. For example, agricultural drones are widely used for spraying pesticides in farmland. Although existing agricultural drones can quickly complete pesticide spraying, manual charging, battery swapping, and pesticide addition are still required for large-scale farmland pesticide spraying. The efficiency of pesticide spraying is relatively low, and operators need to be close to the spraying environment, which may endanger their health. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to overcome the existing defects and provide a drone hangar with charging and battery swapping functions. It can store drones, and the drones can take off and land autonomously without human intervention. They can also replace batteries and add pesticides autonomously, effectively replacing manual on-site operation of drones, keeping people away from the pesticide application environment, improving work efficiency and safety, and realizing fully automatic operation of drones. It can effectively solve the problems in the background technology.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a drone hangar with charging and battery swapping functions, comprising a hangar mechanism, wherein the hangar mechanism includes a hangar shell and a hangar opening and closing assembly, the hangar shell is equipped with the hangar opening and closing assembly, and further comprising:

[0005] The drone alignment platform includes a hollow alignment longitudinal plate, an alignment transverse plate, a drone landing platform, an alignment lateral movement drive assembly, and an alignment longitudinal movement drive assembly. The drone landing platform is installed inside the hangar shell via a platform bracket. The drone landing platform is located in a rectangular through slot at the top of the hangar shell. Two alignment transverse plates are provided above the drone landing platform, and the two alignment transverse plates are respectively connected to the alignment longitudinal movement drive assembly. Two hollow alignment longitudinal plates are provided above the drone landing platform, and the two hollow alignment longitudinal plates are respectively connected to the alignment lateral movement drive assembly.

[0006] The charging and swapping bracket is located at the rear of the hangar shell, and a battery swapping robotic arm is installed on the top of the charging and swapping bracket. A battery swapping robotic hand is installed on the battery swapping robotic arm.

[0007] Furthermore, the hangar opening and closing assembly includes an opening and closing shaft and a hangar half-cover. Two hangar half-covers are respectively provided on the top two sides of the hangar shell, and two longitudinal opening and closing shafts are respectively rotatably connected to the bottom two sides of the hangar shell. The front and rear ends of each opening and closing shaft are respectively fixedly connected to one end of two active swing rods, and the other end of the active swing rod is movably connected to the corresponding hangar half-cover. Each active swing rod has a driven swing rod parallel to the active swing rod on one side. The size of the driven swing rod is the same as that of the active swing rod. One end of the driven swing rod is movably connected to the hangar shell, and the other end of the driven swing rod is movably connected to the corresponding hangar half-cover. The bottom end of the control rotary rod is fixedly connected to the opening and closing shaft, and the top end of the control rotary rod is movably connected to one end of the opening and closing control electric push rod. The other end of the opening and closing control electric push rod is movably connected to the bottom of the hangar shell.

[0008] Furthermore, the charging and swapping bracket includes a profile frame, a charging support plate, and charging seats. The charging support plate is installed on the top left side of the profile frame, and multiple charging seats are arranged longitudinally at equal intervals on the charging support plate.

[0009] Furthermore, the battery swapping robotic arm includes a worm gear rotary platform, a Y-axis sliding module, a Z-axis sliding module, and a robotic arm base. The worm gear rotary platform is installed on the top right side of the profile frame, the Y-axis sliding module is installed on the top of the worm gear rotary platform, the Z-axis sliding module is installed at the end of the Y-axis sliding module, and the robotic arm base is installed on the side of the Z-axis sliding module.

[0010] Furthermore, the battery swapping robot includes a clamping plate, and an electric rotator is installed on the robot's base. A rectangular rotating plate is connected to the bottom of the electric rotator. The bottom of the rectangular rotating plate is connected to two corresponding clamping plates on the left and right sides through a clamping plate drive assembly. A vertical drone switch pressing post is installed at the bottom of one of the clamping plates.

[0011] Furthermore, it also includes a pesticide follow-up dispensing mechanism, which includes a pesticide dispensing head. A pesticide liquid pumping assembly is installed on the robotic arm base. A vertical pesticide dispensing head is fixedly connected to the side of the rectangular rotary plate through a pipe bracket. The top of the pesticide dispensing head is connected to the outlet of the pesticide liquid pumping assembly through a dispensing hose.

[0012] Furthermore, it also includes a drone hangar temperature control mechanism, which includes a temperature control box and semiconductor cooling chips. The temperature control box is located at the bottom of the hangar shell. The temperature control box is divided into a front cooling chamber and a rear heating chamber by a vertical partition. Multiple semiconductor cooling chips are embedded in the partition. The air inlet port at the right end of the temperature control box is connected to an air supply assembly. The left end of the temperature control box is connected to the bottom end of the air supply hood through a hot and cold air switching assembly. The top end of the air supply hood is connected to the bottom end of the air supply steel wire hose.

[0013] Furthermore, the hot and cold air switching assembly includes a hot and cold air switching longitudinal movement driver. The left end of the refrigeration chamber is connected to the right end of the cold air exhaust channel, the top of the cold air exhaust channel is connected to the bottom end of the cold air supply channel, the left end of the heating chamber is connected to the right end of the warm air exhaust channel, the top of the warm air exhaust channel is connected to the bottom end of the warm air supply channel, the tops of both the warm and cold air supply channels are connected to the bottom end of the air supply hood, a horizontal switching plate is slidably installed longitudinally in the air supply control slot in the middle of the warm and cold air supply channels, and horizontal air vents are respectively opened at the front and rear ends of the horizontal switching plate. A vertical switching plate is slidably installed longitudinally in the exhaust control slot at the left end of the warm and cold air exhaust channels, and a vertical air vent is opened in the middle of the vertical switching plate. The front ends of both the horizontal and vertical switching plates are connected to the hot and cold air switching longitudinal movement driver.

[0014] Furthermore, it also includes a drone cooling fan control mechanism, which includes a control electric push rod. The upper rear end of the hollow alignment longitudinal plate has four air outlets arranged in a rectangular array. A slider is longitudinally slidably installed in the middle of the hollow alignment longitudinal plate. A control electric push rod is installed at the front end of the hollow alignment longitudinal plate. The telescopic end of the control electric push rod is connected to the slider. The rear end of the slider is connected to the front end of the baffle. An air inlet is provided at the rear end of the hollow alignment longitudinal plate. The air inlet is connected to the top end of the air supply steel wire hose. In order to adapt to two hollow alignment longitudinal plates, the top end of the air supply hood is connected to two air supply steel wire hoses.

[0015] Furthermore, it also includes a drone foot locking mechanism, which includes an arc rod, a locking motor, and a locking block. The middle rear side of the drone landing platform has two corresponding left and right through slots. Two locking motors are installed on the bottom rear sides of the drone landing platform. The output shaft of each locking motor is connected to one end of the arc rod through a cantilever assembly. The other end of the arc rod is connected to the locking block, which is located in the corresponding through slot.

[0016] Compared with existing technologies, the advantages of this drone hangar with charging and battery swapping capabilities are:

[0017] 1. This drone hangar with charging and battery swapping functions has a drone landing platform on the top of the hangar shell for taking off and landing drones. The hangar opening and closing components are used to cover the area on the top of the hangar shell to store drones that are not used after landing. When the drone is in normal use, the hangar opening and closing components need to be opened to fully expose the area on the top of the hangar shell. The drone takes off, and the drone battery is pre-charged on the charging and battery swapping bracket. After the drone completes its work, it lands on the drone landing platform. The drone aligns itself with the platform so that it is in the rear part of the upper middle of the drone landing platform. The battery swapping robotic arm drives the battery swapping robotic hand to replace the drone battery. The drone takeoff, landing and battery replacement can be automated, reducing human intervention and increasing work efficiency.

[0018] 2. This drone hangar with charging and battery swapping functions is designed for scenarios where drones need to operate frequently. The drone first lands on the drone landing platform and is then pushed to the rear end area of ​​the upper middle part of the landing platform by two horizontal alignment plates and two hollow vertical alignment plates, where it stops. At this time, the air vents on the two hollow vertical alignment plates that are close to each other are aimed at the drone's fuselage, while the air vents that are far apart on the two hollow vertical alignment plates are aimed at the drone's rotor motors. The air supply assembly and semiconductor cooling chip are activated, and the cold and hot air switching longitudinal drive extends, causing the horizontal and vertical switching plates to move backward, sending the cold air in the cooling chamber into the air supply hood. Then, the air is sent into the rear end of the hollow vertical alignment plates through the air supply steel wire hose, and then blown upward through the air vents, which can blow cold air to cool down the drone's fuselage and rotor motors.

[0019] 3. This drone hangar with charging and battery swapping functions can store drones. Drones can take off and land autonomously without human intervention, and can also automatically replace batteries and add pesticides. It effectively replaces manual on-site operation of drones, keeping people away from the pesticide application environment, which helps improve work efficiency and safety, and enables fully automated drone operation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the hangar structure for the unmanned aerial vehicle (UAV) with charging and battery swapping functions according to the present invention.

[0021] Figure 2 This is a schematic diagram of the hangar mechanism in the drone hangar with charging and battery swapping function of the present invention;

[0022] Figure 3 This is a schematic diagram of the drone alignment platform in the drone hangar with charging and battery swapping functions according to the present invention.

[0023] Figure 4 This is a partial structural diagram of the drone alignment platform in the drone hangar with charging and battery swapping functions according to the present invention.

[0024] Figure 5 This is a schematic diagram of the charging and battery swapping bracket in the hangar of the unmanned aerial vehicle (UAV) with charging and battery swapping functions according to the present invention.

[0025] Figure 6 This is a schematic diagram of the battery-swapping robotic arm in the hangar of a drone with charging and swapping functions according to the present invention;

[0026] Figure 7 This is a partial structural diagram of the battery-swapping robotic arm in the hangar of a drone with charging and swapping functions according to the present invention.

[0027] Figure 8 This is a schematic diagram of the battery-swapping robotic arm and pesticide-following addition mechanism in the hangar of a drone with charging and swapping functions according to the present invention.

[0028] Figure 9 This is a schematic diagram of the internal structure of the battery-swapping robot in the hangar of the UAV with charging and swapping functions according to the present invention;

[0029] Figure 10 This is a schematic diagram of the temperature control mechanism for a drone hangar with charging and battery swapping functions according to the present invention.

[0030] Figure 11 This is an exploded structural diagram of the drone hangar temperature control mechanism with charging and battery swapping function in the drone hangar of the present invention.

[0031] Figure 12 This is a cross-sectional schematic diagram of the temperature control mechanism for a drone hangar with charging and battery swapping functions according to the present invention.

[0032] Figure 13 This is a schematic diagram of the structure of the drone cooling fan control mechanism in the drone hangar with charging and battery swapping function according to the present invention;

[0033] Figure 14 This is a schematic diagram of the drone foot locking mechanism in the drone hangar with charging and battery swapping function according to the present invention;

[0034] In the diagram: 1. Hangar mechanism; 11. Hangar shell; 12. Opening and closing shaft; 13. Control lever; 14. Opening and closing control electric push rod; 15. Hangar casters; 16. Active swing arm; 17. Driven swing arm; 18. Movable shaft; 19. Hangar half cover; 110. Hangar control box; 111. Wind speed and direction sensor; 112. Camera; 113. Sealing inner liner strip; 114. Sealing baffle strip; 2. UAV alignment platform; 21. Support rod one; 22. Base frame; 23. Horizontal rail; 24. Horizontal slide seat; 25. Horizontal movement support plate; 26. Hollow alignment longitudinal plate; 27. Horizontal movement electric push rod; 28. Longitudinal frame; 29. ​​Support rod two; 210. Middle frame; 211. Longitudinal rail; 212. Longitudinal slide seat; 213. Longitudinal movement support plate; 214. Alignment horizontal plate; 2 15. Support rod 3; 216. UAV landing platform; 217. Motor slide; 218. Longitudinal rack; 219. Longitudinal traverse motor; 220. Gear; 221. Motor slide rail; 3. Charging / swapping bracket; 31. Profile frame; 32. Frame casters; 33. Frame control box; 34. Charging support plate; 35. Charging base; 4. Battery swapping robotic arm; 41. Robotic arm base; 42. Cylindrical shell; 43. Reversing rotor; 44. Worm gear 1; 45. Worm 1; 46. Reversing motor; 47. Horizontal lead screw nut; 48. Horizontal slide; 49. Horizontal moving frame; 410. Horizontal slide rail; 411. Horizontal lead screw; 412. Horizontal moving motor; 413. Vertical frame; 414. Vertical slide rail; 415. Vertical lead screw; 416. Vertical slide; 4 17 Vertical lead screw nut, 418 Pulley, 419 Belt, 420 Vertical movement motor, 421 Top shell, 422 Robotic arm base, 5 Battery swapping robotic arm, 51 Mounting box, 52 Worm gear II, 53 Worm gear II, 54 Rotary motor, 55 Rectangular rotating plate, 56 Clamping plate slide rail, 57 Clamping plate, 58 Clamping plate electric push rod, 59 Clamping plate liner, 510 UAV switch pressing column, 6 Pesticide follow-up dispensing mechanism, 61 Pump base, 62 Pesticide liquid pump, 63 Liquid extraction pipe, 64 Dispensing hose, 65 Pipe support, 66 Pesticide dispensing head, 7 UAV cooling fan control mechanism, 71 Air outlet, 72 Control electric push rod, 73 Slider, 74 Stop bar, 75 Air inlet, 8 UAV hangar temperature control. Mechanism, 81 Temperature control box, 82 Warm air exhaust channel, 83 Warm air supply channel, 84 Cold air exhaust channel, 85 Cold air supply channel, 86 Air supply hood, 87 Air supply steel wire hose, 88 Electric push rod for switching between hot and cold air, 89 Switching frame, 810 Horizontal switching plate, 811 Horizontal air outlet, 812 Vertical switching plate, 813 Vertical air outlet, 814 Air duct, 815 Air inlet sleeve, 816 Blower, 817 Partition plate, 818 Semiconductor cooling chip, 819 Filter screen, 820 Guide plate, 821 Desiccant pack, 9 UAV foot locking mechanism, 91 Through groove, 92 Support, 93 Rotary shaft, 94 Spoke rod, 95 Arc rod, 96 Locking motor, 97 Locking pressure block, 10 UAV. Detailed Implementation

[0035] 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.

[0036] Example 1, please refer to Figures 1 to 9 This embodiment provides a technical solution: a drone hangar with charging and battery swapping functions, including a hangar mechanism 1. The hangar mechanism 1 includes a hangar shell 11 and a hangar opening and closing assembly. A rectangular through slot is provided on the top of the hangar shell 11. The hangar opening and closing assembly is installed on the hangar shell 11. The hangar opening and closing assembly includes an opening and closing shaft 12, a control rotary rod 13, an opening and closing control electric push rod 14, an active swing rod 16, a driven swing rod 17, a movable shaft 18, and a hangar half cover 19. Two hangar half covers 19 are respectively provided on the top two sides of the hangar shell 11. Two longitudinal opening and closing shafts 12 are rotatably connected to the bottom two sides of the hangar shell 11. The front and rear ends of each opening and closing shaft 12 are respectively fixedly connected to two active swing rods 16. One end of the active swing arm 16 is movably connected to the corresponding hangar half cover 19 via a movable shaft 18. Each active swing arm 16 has a driven swing arm 17 parallel to the active swing arm 16 on one side. The size of the driven swing arm 17 is the same as that of the active swing arm 16. One end of the driven swing arm 17 is movably connected to the hangar shell 11 via a movable shaft 18, and the other end of the driven swing arm 17 is movably connected to the corresponding hangar half cover 19 via a movable shaft 18. The bottom end of the control rotary rod 13 is fixedly connected to the opening and closing shaft 12. The top end of the control rotary rod 13 is movably connected to one end of the opening and closing control electric push rod 14 via a pin. The other end of the opening and closing control electric push rod 14 is movably connected to the bottom of the hangar shell 11 via a pin.

[0037] The hangar mechanism 1 also includes hangar casters 15. Four hangar casters 15 are installed at the four corners of the bottom of the hangar shell 11. The hangar shell 11 can be moved with the help of the hangar casters 15. After it is moved into place, the wheel brakes on the hangar casters 15 will stop the hangar casters 15.

[0038] The hangar structure 1 also includes a hangar control box 110, a wind speed and direction sensor 111, and a camera 112. The hangar control box 110 is installed inside the hangar shell 11. The wind speed and direction sensor 111 is installed on the top of one hangar half-cover 19, and the camera 112 is installed on the top of the other hangar half-cover 19. The lens of the camera 112 faces the top of the hangar shell 11. The input terminal of the controller inside the hangar control box 110 is electrically connected to the output terminal of the wind speed and direction sensor 111 and the camera 112. The connection method between the controller inside the hangar control box 110 and the wind speed and direction sensor 111 and the camera 112 adopts the existing technology.

[0039] The hangar mechanism 1 also includes a sealing inner liner 113 and a sealing baffle 114. One of the hangar half covers 19 is provided with a sealing baffle 114 on the side near the center of the top of the hangar shell 11, and the other hangar half cover 19 is provided with a sealing inner liner 113 that cooperates with the sealing baffle 114 on the side near the center of the top of the hangar shell 11. When the two hangar half covers 19 approach each other on the top of the hangar shell 11 and cover the top of the hangar shell 11, the sealing inner liner 113 and the sealing baffle 114 cooperate to seal the gap between the two hangar half covers 19, thereby improving the airtightness of the storage space of the UAV 10.

[0040] The specific opening and closing steps can be referenced from the left hangar half cover 19. When the left hangar half cover 19 needs to be closed, the left opening and closing control electric push rod 14 is shortened. The left opening and closing control electric push rod 14 pulls the top of the corresponding control lever 13 to the right, causing the left opening and closing shaft 12 to rotate clockwise. This causes the active swing rods 16 at the front and rear ends of the left opening and closing shaft 12 to swing to the right, thereby causing the left hangar half cover 19 to gradually move to the area above the top left side of the hangar shell 11, covering the top left side of the hangar shell 11. The four points where the ends of the active swing rod 16 and the driven swing rod 17 are located are at the four corners of the parallelogram. With the help of the driven swing rod 17 and the active swing rod 16, the top surface of the hangar half cover 19 is always in a horizontal state.

[0041] When it is necessary to open the left hangar half cover 19, the left opening and closing control electric push rod 14 extends, pushing the top of the left control rotary rod 13 to move to the left, causing the left opening and closing shaft 12 to rotate counterclockwise, thereby driving the active swing rod 16 at the front and rear ends of the left opening and closing shaft 12 to swing to the left, and in conjunction with the driven swing rod 17, driving the left hangar half cover 19 to gradually move away from the top of the hangar shell 11, opening the top left side of the hangar shell 11;

[0042] The opening and closing of the right-side hangar half-cover 19 operates on the same principle, enabling the two hangar half-covers 19 to cover or open the area at the top of the hangar shell 11.

[0043] It also includes a drone alignment platform 2, a charging and swapping bracket 3, a battery swapping robotic arm 4, and a battery swapping robotic hand 5.

[0044] The UAV alignment platform 2 includes a hollow alignment longitudinal plate 26, an alignment transverse plate 214, a UAV landing platform 216, an alignment transverse drive assembly, and an alignment longitudinal drive assembly. The UAV landing platform 216 is installed inside the hangar shell 11 via a platform bracket. The UAV landing platform 216 is located in a rectangular through slot at the top of the hangar shell 11. Two alignment transverse plates 214 are provided above the UAV landing platform 216, and the two alignment transverse plates 214 are respectively connected to the alignment longitudinal drive assembly. Two hollow alignment longitudinal plates 26 are provided above the UAV landing platform 216, and the two hollow alignment longitudinal plates 26 are respectively connected to the alignment transverse drive assembly. The horizontal position of the hollow alignment longitudinal plate 26 is higher than the horizontal position of the alignment transverse plate 214.

[0045] The platform support includes support rod 1 21, bottom frame 22, support rod 29, middle frame 210 and support rod 3 215. The bottom of the hangar shell 11 is fixedly connected to the bottom of the bottom frame 22 by six support rods 1 21. The top of the bottom frame 22 is fixedly connected to the bottom of the middle frame 210 by six support rods 29. The top of the middle frame 210 is fixedly connected to the four bottom corners of the UAV landing platform 216 by four support rods 3 215.

[0046] The lateral movement drive assembly includes a horizontal rail 23, a horizontal slide block 24, a lateral movement support plate 25, a lateral movement electric push rod 27, and a longitudinal frame 28. Two horizontal rails 23 are fixedly connected to the front and rear ends of the base frame 22, respectively. The tops of two lateral movement support plates 25 are fixedly connected to the bottom of the front and rear ends of each hollow lateral movement support plate 26, respectively. Two horizontal slide blocks 24 are fixedly connected to the bottom ends of the two lateral movement support plates 25, respectively. The horizontal slide blocks 24 are slidably connected to the corresponding horizontal rails 23. The bottoms of the two corresponding lateral movement support plates 25 are connected via the longitudinal frame 28. The sides of the longitudinal frame 28... The telescopic end of the horizontal moving electric push rod 27 is connected to the surface, and the fixed end of the horizontal moving electric push rod 27 is fixedly connected to the bottom frame 22. When the horizontal moving electric push rod 27 telescopically extends or retracts, it pushes the horizontal moving support plate 25 to slide along the horizontal rail 23 through the longitudinal frame 28, thereby driving the corresponding hollow alignment longitudinal plate 26 to move left and right. The fixed end of the horizontal moving electric push rod 27 corresponding to the hollow alignment longitudinal plate 26 on the left is fixed to the left side of the bottom frame 22, and the fixed end of the horizontal moving electric push rod 27 corresponding to the hollow alignment longitudinal plate 26 on the right is fixed to the right side of the bottom frame 22 to avoid mutual interference.

[0047] The longitudinal traverse drive assembly includes longitudinal rails 211, longitudinal slide blocks 212, longitudinal traverse support plates 213, motor slide blocks 217, longitudinal racks 218, longitudinal traverse motors 219, gears 220, and motor slide rails 221. Two longitudinal rails 211 are fixedly connected to the left and right sides of the middle frame 210, and two longitudinal racks 218 are fixedly connected to the upper center of the middle frame 210. Two longitudinal motor slide rails 221 are also fixedly connected to the upper side of the middle frame 210, with the two longitudinal racks 218 positioned between the two motor slide rails 221. The left and right ends of each alignment plate 214... The top ends of two longitudinal sliding support plates 213 are fixedly connected to each other, and the bottom ends of the two longitudinal sliding support plates 213 are fixedly connected to two longitudinal slide blocks 212. The longitudinal slide blocks 212 are slidably connected to the corresponding longitudinal rails 211. The two corresponding longitudinal sliding support plates 213 are connected by a crossbeam. A longitudinal sliding motor 219 is installed at the bottom of the crossbeam. The output shaft of the longitudinal sliding motor 219 is fixedly connected to a gear 220, which meshes with the corresponding longitudinal rack 218. The bottom of the longitudinal sliding motor 219 is slidably connected to the corresponding motor slide rail 221 through a motor slide block 217. When the longitudinal sliding motor 219 works, it drives the gear 220 to rotate. The meshing action of the gear 220 and the longitudinal rack 218 can drive the longitudinal sliding motor 219 and the motor slide block 217 to slide along the motor slide rail 221, thereby driving the longitudinal sliding support plates 213 and the alignment crossbeam 214 to move back and forth along the longitudinal rail 211 through the crossbeam.

[0048] The output of the controller inside the hangar control box 110 is electrically connected to the input of the opening and closing control electric push rod 14, the horizontal movement electric push rod 27, and the vertical movement motor 219. The vertical movement motor 219 is a servo motor. The controller inside the hangar control box 110 controls the opening and closing control electric push rod 14, the horizontal movement electric push rod 27, and the vertical movement motor 219 using existing technology.

[0049] The charging and swapping bracket 3 is located behind the hangar shell 11. A battery swapping robotic arm 4 is installed on the top of the charging and swapping bracket 3, and a battery swapping robotic hand 5 is installed on the battery swapping robotic arm 4.

[0050] The charging and swapping bracket 3 includes a profile frame 31, a charging support plate 34, and charging seats 35. The profile frame 31 is located behind the hangar shell 11. The charging support plate 34 is installed on the top left side of the profile frame 31, and multiple charging seats 35 are arranged longitudinally and at equal intervals on the charging support plate 34. The profile frame 31 serves as the main body of the bracket, supporting the installation of the charging support plate 34 and the battery swapping robotic arm 4. The charging support plate 34 typically has at least three charging seats 35, which can charge the drone batteries, enabling the rotation and replacement of multiple drone batteries.

[0051] The charging and swapping bracket 3 also includes frame casters 32 and frame control box 33. Four frame casters 32 are installed at the four corners of the bottom of the profile frame 31. The frame casters 32 facilitate the movement of the profile frame 31. After being moved, the frame casters 32 can be braked by the wheel brakes on the frame casters 32. The frame control box 33 is installed inside the profile frame 31.

[0052] The battery swapping robotic arm 4 includes a worm gear rotary platform, a Y-axis sliding module, a Z-axis sliding module, and a robotic arm base 422. The worm gear rotary platform is mounted on the top right side of the profile frame 31. The Y-axis sliding module is mounted on the top of the worm gear rotary platform. The Z-axis sliding module is mounted at the end of the Y-axis sliding module. The robotic arm base 422 is mounted on the side of the Z-axis sliding module. The worm gear rotary platform is used to drive the Y-axis sliding module, the Z-axis sliding module, and the robotic arm base 422 to rotate. The Y-axis sliding module is used to drive the Z-axis sliding module and the robotic arm base 422 to move horizontally. The Z-axis sliding module is used to drive the robotic arm base 422 to move vertically. The robotic arm base 422 is used to mount the battery swapping robotic arm 5, which can drive the battery swapping robotic arm 5 to rotate, move horizontally, and move vertically, allowing the battery swapping robotic arm 5 to press the drone's switch and hold the mobile drone battery as needed.

[0053] Specifically, the worm gear rotary platform includes a robotic arm base 41, a cylindrical shell 42, a reversing plate 43, a worm gear 44, a worm 45, and a reversing motor 46. The robotic arm base 41 is mounted on the top right side of the profile frame 31. The cylindrical shell 42 is mounted on the robotic arm base 41. The reversing plate 43 is rotatably connected to the top of the cylindrical shell 42. The worm gear 44 is rotatably connected inside the cylindrical shell 42. The top of the worm gear 44 is connected to the bottom of the reversing plate 43. A transverse worm 45 is rotatably mounted on one side of the cylindrical shell 42 via a bearing. The worm 45 is connected to the worm gear 44. The end of the worm 45 is connected to the output shaft of the reversing motor 46. The reversing motor 46 is mounted on the robotic arm base 41. When the reversing motor 46 works, it drives the worm 45 to rotate. The worm 45 drives the worm gear 44 and the reversing plate 43 to rotate through transmission, thereby driving the Y-axis sliding module and the Z-axis sliding module to rotate.

[0054] The Y-axis sliding module includes a horizontal lead screw nut 47, a horizontal slide block 48, a horizontal moving frame 49, a horizontal slide rail 410, a horizontal lead screw 411, and a horizontal moving motor 412. The horizontal slide block 48 is fixedly connected to the upper side of the reversing plate 43. The horizontal lead screw nut 47 is installed on the horizontal slide block 48. The horizontal lead screw 411 is connected to the horizontal lead screw nut 47. The two ends of the horizontal lead screw 411 are rotatably connected to the two ends of the horizontal moving frame 49 through bearings. Two horizontal slide rails 410 are provided on the inner side of the horizontal moving frame 49. Both horizontal slide rails 410 are slidably connected to the horizontal slide block 48. One end of the horizontal lead screw 411 is connected to the output shaft of the horizontal moving motor 412. The horizontal moving motor 412 is installed at the end of the horizontal moving frame 49.

[0055] The horizontal moving motor 412 drives the horizontal lead screw 411 to rotate clockwise. The horizontal lead screw 411 cooperates with the horizontal lead screw nut 47, which allows the horizontal moving frame 49 to slide to the left relative to the horizontal slide block 48 along the direction of the horizontal slide rail 410. The horizontal moving motor 412 drives the horizontal lead screw 411 to rotate counterclockwise, which allows the horizontal moving frame 49 to slide to the right relative to the horizontal slide block 48 along the direction of the horizontal slide rail 410, thereby driving the Z-axis sliding module to move left and right in the horizontal direction along the direction of the horizontal slide rail 410.

[0056] The Z-axis sliding module includes a vertical frame 413, a vertical slide rail 414, a vertical lead screw 415, a vertical slide block 416, a vertical lead screw nut 417, a pulley 418, a belt 419, a vertical motor 420, and a top shell 421. The vertical frame 413 is fixedly connected to one end of the horizontal moving frame 49 away from the horizontal moving motor 412. The vertical slide rail 414 is fixedly connected to the inner side of the vertical frame 413. The vertical lead screw 415 is also rotatably connected to the inner side of the vertical frame 413 via a bearing. A pulley 418 is fixedly connected to the top of the vertical lead screw 415. The top of the vertical frame 413 is close to the horizontal moving frame 49. A vertical movement motor 420 is mounted on the side. The output shaft of the vertical movement motor 420 is fixedly connected to another pulley 418. The two pulleys 418 are connected by a belt 419. The vertical slide 416 is slidably connected to the vertical slide rail 414. A vertical lead screw nut 417 is fixedly connected to the vertical slide 416. The vertical lead screw nut 417 is connected to the vertical lead screw 415. The side of the vertical slide 416 passes through the vertical groove on the side of the upright frame 413 and is fixedly connected to the robot arm base 422. A top shell 421 is installed on the top of the upright frame 413 to cover the pulleys 418 and the belt 419 for protection. When the vertical movement motor 420 operates, it drives the vertical lead screw 415 to rotate through the transmission action of the pulley 418 and the belt 419. When the vertical lead screw 415 rotates clockwise, it can drive the vertical lead screw nut 417 and the vertical slide block 416 to move upward along the vertical slide rail 414, thereby driving the robot arm base 422 to move upward. When the vertical lead screw 415 rotates counterclockwise, it can drive the vertical lead screw nut 417 and the vertical slide block 416 to move downward along the vertical slide rail 414, thereby driving the robot arm base 422 to move downward.

[0057] The battery swapping robot 5 includes an electric rotator, a clamping plate drive assembly, a rectangular rotating plate 55, clamping plates 57, and a drone switch pressing post 510. The electric rotator is mounted on the robot base 422. The bottom of the electric rotator is connected to the rectangular rotating plate 55. The bottom of the rectangular rotating plate 55 is connected to two corresponding clamping plates 57 via the clamping plate drive assembly. The electric rotator is used to drive the rectangular rotating plate 55, the clamping plate drive assembly, and the clamping plates 57 to rotate. The clamping plate drive assembly is used to drive the two clamping plates 57 to move closer or further apart. A vertical drone switch pressing post 510 is mounted on the bottom of one of the clamping plates 57. The drone switch pressing post 510 is used to press the switch on the drone. An electric rotator is used to rotate a rectangular rotating plate 55 and two clamping plates 57 around the center of the rectangular rotating plate 55, so that the two clamping plates 57 are aligned with the two sides of the drone battery to be clamped. The clamping plate drive assembly is used to drive the two clamping plates 57 to move closer or further apart. When the two clamping plates 57 are closer together, the battery can be clamped; when the two clamping plates 57 are further apart, the battery can be released. When the switch of the drone 10 needs to be pressed, the worm gear rotating platform and the Y-axis sliding module in the battery swapping robotic arm 4 work to align the drone switch pressing column 510 with the switch of the drone 10. Then, the Z-axis sliding module in the battery swapping robotic arm 4 drives the battery swapping robotic arm 5 to descend, so that the drone switch pressing column 510 can press the switch on the top of the drone 10.

[0058] The electric rotator includes a mounting box 51, a second worm gear 52, a second worm 53, and a rotary motor 54. The mounting box 51 is fixedly connected to the bottom of the robot arm base 422. The second vertical worm gear 52 is rotatably connected inside the mounting box 51. The two ends of the second worm 53 are rotatably connected to one side of the mounting box 51 via bearings. One end of the second worm 53 is fixedly connected to the output shaft of the rotary motor 54. The rotary motor 54 is mounted on the outside of the mounting box 51. The second worm 53 and the second worm gear 52 are connected in cooperation. The bottom end of the second worm gear 52 is fixedly connected to the top center of the rectangular rotating plate 55. When the rotary motor 54 works, it drives the second worm 53 to rotate. The second worm 53 also drives the rectangular rotating plate 55 to rotate around its own center through the second worm gear 52.

[0059] The clamping plate drive assembly includes clamping plate slide rails 56, clamping plate electric push rods 58, and clamping plate bushings 59. Two parallel clamping plate slide rails 56 are provided at the bottom of the rectangular rotary plate 55. The tops of the two clamping plates 57 are slidably connected to the clamping plate slide rails 56. Two clamping plate electric push rods 58 are fixedly connected to the front and rear sides of the bottom of the rectangular rotary plate 55, respectively. Both clamping plate electric push rods 58 are parallel to the clamping plate slide rails 56, and the extension and retraction ends of the two clamping plate electric push rods 58 are arranged oppositely. Connect the corresponding clamping plates 57. The two clamping plate electric push rods 58 can extend to push the two clamping plates 57 closer to each other along the clamping plate slide rail 56, which can be used to clamp the drone motor. The two clamping plate electric push rods 58 can shorten to pull the two clamping plates 57 away from each other along the clamping plate slide rail 56, which can release the drone battery. In order to clamp the drone battery more stably, two clamping plate bushings 59 can be detachably installed on the bottom side of the two clamping plates 57 that are close to each other. The clamping plate bushings 59 can be made of appropriate materials as needed.

[0060] The controller output in frame control box 33 is electrically connected to the inputs of commutator motor 46, horizontal movement motor 412, vertical movement motor 420, rotary motor 54, and clamp electric push rod 58. The commutator motor 46, horizontal movement motor 412, vertical movement motor 420, and rotary motor 54 are all servo motors. The controller in frame control box 33 controls the operation of the commutator motor 46, horizontal movement motor 412, vertical movement motor 420, rotary motor 54, and clamp electric push rod 58 using existing technology. The hardware interfaces of the controller in hangar control box 110 and the controller in frame control box 33 are matched and their protocols are compatible, allowing them to communicate with each other. The controllers in hangar control box 110 and frame control box 33 can also communicate with UAV 10 via wireless communication technology; the specific communication method uses existing technology.

[0061] In use, the drone landing platform 216 on top of the hangar shell 11 is used for taking off and landing the drone 10. The hangar opening and closing assembly is used to cover the area on top of the hangar shell 11, thereby storing the drone 10 that is not used after landing. When the drone 10 is in normal use, the hangar opening and closing assembly needs to be opened to fully expose the area on top of the hangar shell 11. The alignment and lateral movement drive assembly moves the two hollow alignment longitudinal plates 26 away from each other, so that the two hollow alignment longitudinal plates 26 are above the left and right sides of the drone landing platform 216, and then the alignment and longitudinal movement are performed. The drive assembly moves two alignment horizontal plates 214 to the front and rear sides above the drone landing platform 216. The drone 10 takes off, and the drone battery is pre-charged on the charging and swapping bracket 3. After completing its operation, the drone 10 lands on the drone landing platform 216. The alignment horizontal movement drive assembly moves two hollow alignment vertical plates 26 closer together, pushing the drone 10 to the central area of ​​the drone landing platform 216. Then, the alignment vertical movement drive assembly moves the front alignment horizontal plate 214 backward, and the front alignment horizontal plate 214... 14. Push the drone 10 backward until it stops in the rear section of the upper middle part of the drone landing platform 216. Two horizontal alignment plates 214 limit the front and rear sides of the drone 10's feet, and two hollow vertical alignment plates 26 limit the left and right sides of the drone 10's feet. The battery swapping robotic arm 4 drives the battery swapping robotic hand 5 to press the power button on the drone 10, turning it off. Then, the battery swapping robotic arm 4 drives the battery swapping robotic hand 5 to remove the depleted drone battery from the drone 10. The drone battery is placed in the charging slot on the charging and swapping bracket 3. Then, the battery swapping robotic arm 4 drives the battery swapping robotic hand 5 to remove the fully charged drone battery from the charging and swapping bracket 3 and install it in the battery compartment on the top of the drone 10. The power button of the drone 10 is pressed again by the battery swapping robotic hand 5 to turn on the drone 10. The drone 10 then takes off again to perform the operation. The drone 10 has a built-in program that operates automatically. Using existing technology, the drone's takeoff, landing, and battery replacement can be automated, reducing human intervention and increasing operational efficiency.

[0062] Example 2, please refer to Figures 1 to 9 This embodiment provides a technical solution: a drone hangar with charging and battery swapping functions. This embodiment is structurally similar to Embodiment 1, with the difference being:

[0063] When the drone 10 has a medicine tank and is used for agricultural spraying, it is also equipped with a pesticide follow-up addition mechanism 6 for adding pesticides to the medicine tank. The pesticide follow-up addition mechanism 6 includes a pesticide pumping assembly, an addition hose 64, a tube support 65, and a pesticide addition head 66. The pesticide pumping assembly is installed on the robot arm base 422. The side of the rectangular rotary plate 55 is fixedly connected to the vertical pesticide addition head 66 through the tube support 65. The top of the pesticide addition head 66 is connected to the outlet of the pesticide pumping assembly through the addition hose 64.

[0064] The pesticide liquid pumping assembly includes a pump base 61, a pesticide liquid pump 62, and a suction pipe 63. The pump base 61 is provided on the robot arm base 422, and the pesticide liquid pump 62 is installed on the pump base 61. The outlet of the pesticide liquid pump 62 is connected to the end of the addition hose 64, and the inlet of the pesticide liquid pump 62 is connected to one end of the suction pipe 63. The other end of the suction pipe 63 extends to the bottom of the pesticide preparation cylinder. The pesticide liquid pump 62 can deliver the pesticide in the pesticide preparation cylinder to the addition hose 64 through the suction pipe 63, and then add it to the pesticide addition port on the drone 10 through the pesticide addition head 66.

[0065] The output terminal of the controller inside the frame control box 33 is electrically connected to the input terminal of the pesticide liquid pump 62, and the controller inside the frame control box 33 controls the pesticide liquid pump 62 in the manner of existing technology.

[0066] The pesticide pumping assembly is connected to an external pesticide dispensing cylinder. When pesticides need to be added, the electric robotic arm 4 first needs to align the pesticide dispensing head 66 with the pesticide dispensing port on the drone 10. The pesticide pumping assembly then operates, drawing the pesticide liquid from the pesticide dispensing cylinder into the dispensing hose 64, and then adding it to the pesticide tank of the drone 10 through the pesticide dispensing head 66, thereby achieving the addition of pesticides.

[0067] Example 3, please refer to Figures 1 to 12 This embodiment provides a technical solution: a drone hangar with charging and battery swapping functions. This embodiment is structurally similar to Embodiment 2, with the difference being:

[0068] To control the temperature of the storage area of ​​the drone 10, a drone hangar temperature control mechanism 8 is also provided. The drone hangar temperature control mechanism 8 includes a temperature control box 81, an air supply hood 86, an air supply steel wire hose 87, a hot and cold air switching component, an air supply component, a partition 817, and a semiconductor cooling chip 818. The temperature control box 81 is located at the bottom inside the hangar shell 11. The temperature control box 81 is divided into a front cooling chamber and a rear heating chamber by a vertical partition 817. The left end of the partition 817 is wedge-shaped to facilitate the diversion of incoming air. The partition 817 is inlaid with... There are multiple thermoelectric coolers 818, with no fewer than eight thermoelectric coolers 818 arranged in a rectangular array on the partition 817. The front end of each thermoelectric cooler 818 is a cold end and the rear end is a hot end. An air supply assembly is connected to the air inlet port on the right end of the temperature control box 81. The air supply assembly is used to supply air to the cooling chamber and the heating chamber. The left end of the temperature control box 81 is connected to the bottom end of the air supply hood 86 through a hot and cold air switching assembly. The top end of the air supply hood 86 is connected to the bottom end of the air supply steel wire hose 87. The top end of the air supply steel wire hose 87 extends to the top of the hangar shell 11.

[0069] The air supply assembly includes a duct 814 and a blower 816. The air inlet port at the right end of the temperature control box 81 is connected to the left end of the duct 814. The blower 816 is installed inside the duct 814. The blower 816 blows air to the left, which can blow external air into the cooling chamber and heating chamber inside the temperature control box 81, so that the cooling chamber and heating chamber continuously blow air to the left.

[0070] The drone hangar temperature control mechanism 8 includes an air intake drying and protection component, which is used to filter and dry the air entering the air duct 814 to prevent leaves or insects from entering the air duct 814 and the temperature control box 81, and at the same time dry the humid air to prevent humid air from entering the storage area of ​​the drone 10.

[0071] The air intake drying and protection assembly includes an air intake sleeve 815, a filter 819, a baffle plate 820, and a desiccant pack 821. The right end of the air duct 814 is threadedly connected to the left end of the air intake sleeve 815. The right end of the air intake sleeve 815 extends through a round hole on the side of the hangar housing 11 to the outside of the hangar housing 11. Filters 819 are installed at both ends inside the air intake sleeve 815. The filters 819 are used to filter out debris such as leaves or insects. Multiple parallel baffle plates 820 are provided in the middle of the air intake sleeve 815. Desiccant packs 821 are placed on the sides of the baffle plates 820. The baffle plates 820 guide the air passing through the air intake sleeve 815 and also serve to hold the desiccant packs 821. The desiccant packs 821 are used to remove moisture from the air supplied into the air duct 814, thus drying it.

[0072] The heating and cooling air switching assembly includes a heating and cooling air switching longitudinal drive, a warm air exhaust channel 82, a warm air supply channel 83, a cold air exhaust channel 84, a cold air supply channel 85, a horizontal switching plate 810, a horizontal air outlet 811, a vertical switching plate 812, and a vertical air outlet 813. The left end of the cooling chamber is connected to the right end of the cold air exhaust channel 84, and the top of the cold air exhaust channel 84 is connected to the bottom end of the cold air supply channel 85. The left end of the heating chamber is connected to the right end of the warm air exhaust channel 82, and the top of the warm air exhaust channel 82 is connected to the bottom end of the warm air supply channel 83. The top ends of both the warm air supply channel 83 and the cold air supply channel 85 are connected to the bottom end of the air supply hood 86. The left ends of the warm air exhaust channel 82 and the cold air exhaust channel 84 extend to the outside of the hangar shell 11. The warm air supply channel 83 and the cold air supply channel 85 are arranged correspondingly front and rear. The warm air exhaust channel 82 and the cold air exhaust channel 84 are connected to each other. The front and rear of the exhaust channel 84 are respectively arranged. The front and rear sides of the middle of the warm air supply channel 83 and the cold air supply channel 85 are respectively provided with horizontal air supply control slots. The front and rear sides of the left end of the warm air exhaust channel 82 and the cold air exhaust channel 84 are respectively provided with vertical exhaust control slots. The horizontal switching plate 810 is longitudinally slidably installed in the air supply control slot in the middle of the warm air supply channel 83 and the cold air supply channel 85. The front and rear ends of the horizontal switching plate 810 are respectively provided with horizontal air outlets 811. The vertical switching plate 812 is longitudinally slidably installed in the exhaust control slot at the left end of the warm air exhaust channel 82 and the cold air exhaust channel 84. The middle of the vertical switching plate 812 is provided with a vertical air outlet 813. The front ends of the horizontal switching plate 810 and the vertical switching plate 812 are connected to the cold and warm air switching longitudinal movement driver. The cold and warm air switching longitudinal movement driver is used to drive the horizontal switching plate 810 and the vertical switching plate 812 to move back and forth.

[0073] The heating and cooling air switching longitudinal actuator includes a heating and cooling air switching electric push rod 88 and a switching frame 89. The front ends of the horizontal switching plate 810 and the vertical switching plate 812 are both connected to the switching frame 89. The switching frame 89 is connected to the rear end of the longitudinal heating and cooling air switching electric push rod 88. The front end of the heating and cooling air switching electric push rod 88 is installed at the bottom of the hangar housing 11 through a push rod bracket. The extension and retraction of the heating and cooling air switching electric push rod 88 can drive the switching frame 89 to move back and forth, thereby driving the horizontal switching plate 810 and the vertical switching plate 812 to move back and forth synchronously.

[0074] When it is necessary to send cold air from the refrigeration chamber into the air supply hood 86 and exhaust hot air to the outside of the hangar shell 11, the cold / warm air switching longitudinal drive extends, causing the horizontal switching plate 810 and the vertical switching plate 812 to move backward. At this time, the vertical air outlet 813 on the vertical switching plate 812 is in the warm air exhaust channel 82, the left end of the cold air exhaust channel 84 is blocked by the front end of the vertical switching plate 812, the horizontal air outlet 811 at the front end of the horizontal switching plate 810 is in the cold air supply channel 85, and the horizontal air outlet 811 at the rear end of the horizontal switching plate 810... 1 is located behind the warm air supply duct 83. The warm air supply duct 83 is blocked by the middle of the horizontal switching plate 810. The cold air in the cooling chamber enters the air supply cover 86 and the air supply steel wire hose 87 through the cold air exhaust duct 84, the cold air supply duct 85 and the horizontal air outlet 811 at the front end of the horizontal switching plate 810. Finally, the cold air is sent into the UAV storage space inside the hangar half cover 19, while the hot air in the heating chamber is discharged to the outside of the hangar shell 11 through the warm air exhaust duct 82 and the vertical air outlet 813 on the vertical switching plate 812.

[0075] When it is necessary to send hot air from the heating chamber into the air supply hood 86 and exhaust cold air to the outside of the hangar shell 11, the hot / cold air switching longitudinal actuator shortens, causing the horizontal switching plate 810 and the vertical switching plate 812 to move forward. At this time, the vertical air outlet 813 on the vertical switching plate 812 is in the cold air exhaust channel 84, the left end of the warm air exhaust channel 82 is blocked by the rear end of the vertical switching plate 812, the middle part of the horizontal switching plate 810 blocks the cold air supply channel 85, and the horizontal air outlet at the rear end of the horizontal switching plate 810... The inlet 811 is located inside the warm air supply duct 83. The hot air in the heating chamber enters the air supply hood 86 and the air supply steel wire hose 87 after passing through the warm air exhaust duct 82, the warm air supply duct 83 and the horizontal air outlet 811 at the rear end of the horizontal switching plate 810. Finally, the hot air is sent into the UAV storage space inside the hangar half cover 19, while the cold air in the cooling chamber is discharged to the outside of the hangar shell 11 through the cold air exhaust duct 84 and the vertical air outlet 813 on the vertical switching plate 812, thereby realizing the switching operation of hot and cold air.

[0076] In use, when the two hangar half-covers 19 enclose the area above the top of the hangar shell 11, storing the drone 10 that has landed on the drone landing platform 216, temperature control is required within the space inside the hangar half-covers 19 to maintain a comfortable temperature for the drone 10 and ensure the reliability of its components and battery. Specifically, a temperature sensor is installed on the top of the hangar shell 11, and the output of the temperature sensor is electrically connected to the input of the controller inside the hangar control box 110. When the thermoelectric cooler 818 is activated, the cold end of the thermoelectric cooler 818 lowers the temperature of the cooling chamber. The hot end of the thermoelectric cooler 818 raises the temperature of the heating chamber. When the temperature sensor detects that the temperature around the drone 10 is too high, the air supply assembly sends air to the left end of the temperature control box 81. The hot and cold air switching assembly sends the cold air in the cooling chamber into the air supply cover 86 and sends the cold air into the area above the top of the hangar shell 11 through the air supply steel wire hose 87 to cool down the storage environment where the drone 10 is located. At the same time, the hot and cold air switching assembly also exhausts the hot air in the heating chamber to the outside of the hangar shell 11. When the temperature returns to a suitable temperature, the air supply assembly and the thermoelectric cooler 818 stop working.

[0077] When the temperature sensor detects that the temperature around the drone 10 is too low, the air supply assembly sends air to the left end of the temperature control box 81, and the hot and cold air switching assembly sends the hot air in the heating chamber into the air supply cover 86. The cold air is sent into the area above the top of the hangar shell 11 through the air supply steel wire hose 87, so that the storage environment where the drone 10 is located is heated. At the same time, the hot and cold air switching assembly also exhausts the cold air in the cooling chamber to the outside of the hangar shell 11. When the temperature returns to a suitable temperature, the air supply assembly and the semiconductor cooling chip 818 stop working.

[0078] Example 4, please refer to Figures 1 to 13 This embodiment provides a technical solution: a drone hangar with charging and battery swapping functions. This embodiment is structurally similar to Embodiment 3, with the difference being:

[0079] To cool down the continuously operating drone 10 when replacing batteries and adding pesticides, a drone cooling air blowing control mechanism 7 is also provided. The drone cooling air blowing control mechanism 7 includes an air outlet 71, a control electric push rod 72, a slider 73, a baffle 74, and an air inlet 75. Four air outlets 71 arranged in a rectangular array are opened on the upper rear side of the hollow alignment plate 26. A slider 73 is longitudinally slidably installed in the middle of the hollow alignment plate 26. A control electric push rod 72 is installed in the front end of the hollow alignment plate 26. The telescopic end of the control electric push rod 72 is connected to the slider 73. The rear end of the slider 73 is connected to the front end of the baffle 74. An air inlet 75 is provided at the rear end of the hollow alignment plate 26. The air inlet 75 is connected to the top end of the air supply steel wire hose 87. In order to adapt to the two hollow alignment plates 26, the top end of the air supply cover 86 is connected to two air supply steel wire hoses 87.

[0080] The output terminal of the controller inside the hangar control box 110 is electrically connected to the input terminal of the control electric actuator 72, the heating / cooling air switching electric actuator 88, the blower 816, and the thermoelectric cooler 818. The hangar control box 110 controls the operation of the control electric actuator 72, the heating / cooling air switching electric actuator 88, the blower 816, and the thermoelectric cooler 818 using methods commonly used in the prior art.

[0081] When the air supply steel wire hose 87 is connected to the air inlet 75 at the rear end of the hollow alignment longitudinal plate 26, the cold or hot air delivered into the air supply steel wire hose 87 will be delivered to the storage space of the drone 10 through the four dispersed air outlets 71 on the hollow alignment longitudinal plate 26.

[0082] In scenarios where the drone 10 needs to operate frequently, the drone 10 first lands on the drone landing platform 216, and then is pushed by two horizontal alignment plates 214 and two hollow vertical alignment plates 26 to the rear end area of ​​the upper middle part of the drone landing platform 216, where it stops. At this time, the air vents 71 on the two hollow vertical alignment plates 26 that are close to each other are aligned with the fuselage of the drone 10, and the air vents 71 on the two hollow vertical alignment plates 26 that are far apart are aligned with the rotor motor of the drone 10. The air supply assembly and the semiconductor cooling chip 818 operate, the hot and cold air switching longitudinal drive extends, driving the horizontal switching plate 810 and the vertical switching plate 812 to move backward, sending the cold air in the cooling chamber into the air supply shroud 86, and then through the air supply steel wire hose 87 into the rear end of the hollow vertical alignment plate 26, and then blowing it upward through the air vents 71. Cooling is achieved by blowing cold air onto the fuselage and rotor motors of the drone 10. Since the drone 10 undergoes rapid battery replacement and pesticide application after landing on the drone landing platform 216, its rotor motors need to operate continuously under increased load, making them prone to overheating and affecting its continuous operation. Therefore, additional cooling measures are needed. The electric push rod 72 extends, pushing the slider 73 backward within the hollow alignment plate 26. This causes the stop rod 74 to move backward, blocking the two adjacent air vents 71 on the hollow alignment plate 26. This allows the two more distant air vents 71 to blow out a larger flow of cold air, providing better cooling for the drone 10's rotor motors and ensuring continuous operation. Whether or not to block the adjacent air vents 71 on the two hollow alignment plates 26 during the cooling process depends on a comprehensive assessment of the drone 10's fuselage and rotor motor temperatures.

[0083] Example 5, please refer to Figures 1 to 14 This embodiment provides a technical solution: a drone hangar with charging and battery swapping functions. This embodiment is structurally similar to Embodiment 4, with the difference being:

[0084] To prevent the drone 10 from tipping over when changing batteries and adding pesticides, a drone foot locking mechanism 9 is also provided. The drone foot locking mechanism 9 includes a through groove 91, a cantilever assembly, an arc rod 95, a locking motor 96, and a locking block 97. Two corresponding through grooves 91 are opened on the middle rear side of the drone landing platform 216. Two locking motors 96 are installed on both sides of the bottom rear end of the drone landing platform 216. The output shaft of each locking motor 96 is connected to one end of the arc rod 95 through the cantilever assembly. The other end of the arc rod 95 is connected to the locking block 97. The locking block 97 is located in the corresponding through groove 91. An arc-shaped groove is opened on the upper side of the locking block 97, and friction texture is provided in the arc-shaped groove.

[0085] At the bottom of the UAV landing platform 216, two supports 92 are fixedly connected to the front of the two locking motors 96 respectively. The two supports 92 are rotatably connected to the output shafts of the two locking motors 96 through the installation bearings.

[0086] The cantilever assembly includes a pivot 93 and spokes 94. The output shaft on the front side of each locking motor 96 is fixedly connected to the rear end of the pivot 93. The front side of the pivot 93 is connected to the end of the arc rod 95 through the spokes 94. When the locking motor 96 is working, it can drive the arc rod 95 to rotate around the axis of the pivot 93 through the pivot 93 and spokes 94.

[0087] The output terminal of the controller inside the hangar control box 110 is electrically connected to the input terminal of the locking motor 96. The locking motor 96 is a servo motor. The controller inside the hangar control box 110 controls the operation of the locking motor 96 using existing technology.

[0088] In actual operation, the two horizontal alignment plates 214 and the two hollow vertical alignment plates 26 push the drone 10 to the rear end area of ​​the upper middle part of the drone landing platform 216 and stop. At this time, the horizontal alignment plates 214 and the hollow vertical alignment plates 26 have a limiting effect on the feet of the drone 10, but the limiting force on the feet of the drone 10 is effective. If the drone battery and the drone 10 body are too tight during the battery replacement process, the drone 10 may tip over when the battery replacement robot arm 4 and the battery replacement robot hand 5 remove the battery. Therefore, a drone foot locking mechanism 9 is additionally set on the rear middle part of the drone landing platform 216. When the drone 10 is pushed to the rear end area of ​​the drone landing platform 216, the drone foot locking mechanism 9 is used to lock the drone foot. When the drone lands on the upper middle rear end area of ​​the drone landing platform 216, it stops. At this time, the locking motor 96 drives the arc rod 95 to rotate through the cantilever assembly. The center of the circle where the arc rod 95 is located coincides with the output shaft center of the locking motor 96. The arc rod 95 drives the locking block 97 to extend out from the through groove 91 and then press on the foot crossbar on one side of the drone 10. The two sets of drone foot locking mechanisms 9 work, so that the two locking blocks 97 press against the foot crossbars on both sides of the drone 10, thereby locking the drone 10 in the upper middle rear end area of ​​the drone landing platform 216 to prevent it from tipping over when changing the battery. The friction texture in the arc groove on the locking block 97 can increase the friction with the foot crossbar.

[0089] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0090] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A UAV hangar with charging and battery replacement function, comprising a hangar mechanism (1), wherein the hangar mechanism (1) comprises a hangar shell (11) and a hangar opening and closing assembly, and the hangar opening and closing assembly is installed on the hangar shell (11), characterized in that, Also includes: The UAV alignment platform (2) includes a hollow alignment longitudinal plate (26), an alignment transverse plate (214), a UAV landing platform (216), an alignment transverse drive component, and an alignment longitudinal drive component. The UAV landing platform (216) is installed in the hangar shell (11) through a platform bracket. The UAV landing platform (216) is located in a rectangular through slot at the top of the hangar shell (11). Two alignment transverse plates (214) are provided above the UAV landing platform (216). The two alignment transverse plates (214) are respectively connected to the alignment longitudinal drive component. Two hollow alignment longitudinal plates (26) are provided above the UAV landing platform (216). The two hollow alignment longitudinal plates (26) are respectively connected to the alignment transverse drive component. The charging and swapping bracket (3) is located behind the hangar shell (11). A battery swapping robotic arm (4) is installed on the top of the charging and swapping bracket (3), and a battery swapping robotic hand (5) is installed on the battery swapping robotic arm (4).

2. The drone hangar with charging and battery swapping function according to claim 1, characterized in that: The hangar opening and closing assembly includes an opening and closing shaft (12) and a hangar half cover (19). Two hangar half covers (19) are respectively provided on the top two sides of the hangar shell (11). Two longitudinal opening and closing shafts (12) are rotatably connected to the bottom two sides of the hangar shell (11). The front and rear ends of each opening and closing shaft (12) are fixedly connected to one end of two active swing rods (16). The other end of the active swing rods (16) is movably connected to the corresponding hangar half cover (19). Each active swing rod (16) has a parallel structure on one side. The driven swing arm (17) of 16) has the same size as the active swing arm (16). One end of the driven swing arm (17) is movably connected to the hangar shell (11), and the other end of the driven swing arm (17) is movably connected to the corresponding hangar half cover (19). The bottom end of the control rotary rod (13) is fixedly connected to the opening and closing shaft (12). The top end of the control rotary rod (13) is movably connected to one end of the opening and closing control electric push rod (14), and the other end of the opening and closing control electric push rod (14) is movably connected to the bottom of the hangar shell (11).

3. The drone hangar with charging and battery swapping function according to claim 1, characterized in that: The charging and swapping bracket (3) includes a profile frame (31), a charging support plate (34) and a charging seat (35). The charging support plate (34) is installed on the top left side of the profile frame (31), and multiple charging seats (35) are arranged longitudinally and equally on the charging support plate (34).

4. The drone hangar with charging and battery swapping function according to claim 3, characterized in that: The battery swapping robotic arm (4) includes a worm gear rotating platform, a Y-axis sliding module, a Z-axis sliding module, and a robotic arm base (422). The worm gear rotating platform is installed on the top right side of the profile frame (31). The Y-axis sliding module is installed on the top of the worm gear rotating platform. The Z-axis sliding module is installed at the end of the Y-axis sliding module. The robotic arm base (422) is installed on the side of the Z-axis sliding module.

5. The drone hangar with charging and battery swapping function according to claim 4, characterized in that: The battery swapping robot (5) includes a clamp (57), and an electric rotator is installed on the robot base (422). A rectangular rotating plate (55) is connected to the bottom of the electric rotator. The bottom of the rectangular rotating plate (55) is connected to two corresponding clamps (57) on the left and right sides through a clamp drive assembly. A vertical drone switch pressing column (510) is installed at the bottom of one of the clamps (57).

6. The drone hangar with charging and battery swapping function according to claim 5, characterized in that: It also includes a pesticide follow-up addition mechanism (6), which includes a pesticide addition head (66). A liquid pumping assembly is installed on the robot arm base (422). The side of the rectangular rotary plate (55) is fixedly connected to the vertical pesticide addition head (66) through the pipe bracket (65). The top of the pesticide addition head (66) is connected to the outlet of the liquid pumping assembly through the addition hose (64).

7. The drone hangar with charging and battery swapping function according to claim 1, characterized in that: It also includes a drone hangar temperature control mechanism (8), which includes a temperature control box (81) and a semiconductor cooling chip (818). The temperature control box (81) is located at the bottom of the hangar shell (11). The temperature control box (81) is divided into a front cooling chamber and a rear heating chamber by a vertical partition (817). Multiple semiconductor cooling chips (818) are embedded in the partition (817). The air inlet port at the right end of the temperature control box (81) is connected to an air supply assembly. The left end of the temperature control box (81) is connected to the bottom end of the air supply hood (86) through a hot and cold air switching assembly. The top end of the air supply hood (86) is connected to the bottom end of the air supply steel wire hose (87).

8. The drone hangar with charging and battery swapping function according to claim 7, characterized in that: The hot and cold air switching assembly includes a hot and cold air switching longitudinal drive. The left end of the refrigeration chamber is connected to the right end of the cold air exhaust channel (84), the top of the cold air exhaust channel (84) is connected to the bottom end of the cold air supply channel (85), the left end of the heating chamber is connected to the right end of the warm air exhaust channel (82), the top of the warm air exhaust channel (82) is connected to the bottom end of the warm air supply channel (83), and the tops of both the warm air supply channel (83) and the cold air supply channel (85) are connected to the bottom end of the air supply hood (86). A horizontal switching plate (810) is longitudinally slidably installed in the air supply control slot in the middle of the cold air supply channel (85). Horizontal air vents (811) are opened at the front and rear ends of the horizontal switching plate (810). A vertical switching plate (812) is longitudinally slidably installed in the exhaust control slot at the left end of the warm air exhaust channel (82) and the cold air exhaust channel (84). A vertical air vent (813) is opened in the middle of the vertical switching plate (812). The front ends of both the horizontal switching plate (810) and the vertical switching plate (812) are connected to the cold and warm air switching longitudinal movement driver.

9. The drone hangar with charging and battery swapping function according to claim 8, characterized in that: It also includes a drone cooling air blowing control mechanism (7), which includes a control electric push rod (72). Four air blowing ports (71) arranged in a rectangular array are provided on the upper rear end of the hollow alignment longitudinal plate (26). A slider (73) is longitudinally slidably installed in the middle of the hollow alignment longitudinal plate (26). A control electric push rod (72) is installed at the front end of the hollow alignment longitudinal plate (26). The telescopic end of the control electric push rod (72) is connected to the slider (73). The front end of the slider (73) is connected to the back end of the baffle (74). An air inlet (75) is provided at the rear end of the hollow alignment longitudinal plate (26). The air inlet (75) is connected to the top end of the air supply steel wire hose (87).

10. The drone hangar with charging and battery swapping function according to claim 1, characterized in that: It also includes a drone foot locking mechanism (9), which includes an arc rod (95), a locking motor (96) and a locking block (97). Two corresponding through slots (91) are opened on the middle rear side of the drone landing platform (216). Two locking motors (96) are installed on the bottom rear sides of the drone landing platform (216). The output shaft of each locking motor (96) is connected to one end of the arc rod (95) through a cantilever assembly. The other end of the arc rod (95) is connected to the locking block (97). The locking block (97) is located in the corresponding through slot (91).

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