Unmanned aerial vehicle hangar

Abstract

The utility model provides an unmanned aerial vehicle hangar, which relates to the technical field of hangars and comprises a take-off and landing platform, a guide rail, a battery compartment and a battery replacement manipulator, the lifting platform is slidably mounted on the guide rails; the battery bin and the battery replacing manipulator are installed on the downstream of the guide rail, the battery replacing manipulator is used for grabbing a battery in the battery bin and replacing the battery of the unmanned aerial vehicle on the lifting platform, and the lifting platform can be matched with the first positioning device to achieve primary positioning; and the second positioning device can be adapted to at least one of the nose, the fuselage and the wings of the unmanned aerial vehicle, so that accurate positioning of the unmanned aerial vehicle is realized, and manual battery replacement operation of the unmanned aerial vehicle can be replaced.

Description

Technical Field

[0001] The utility model relates to the technical field of hangars, in particular to a hangar for unmanned aerial vehicles. Background Art

[0002] To achieve unmanned operation, drone hangars typically require improved landing accuracy and the addition of a positioning mechanism to lock the drone after landing. Once the drone is locked, a robotic arm can be used to replace the drone's battery.

[0003] With the increasing application of fixed-wing UAVs, although fixed-wing UAVs can be equipped with vertical take-off and landing capabilities, due to limitations of factors such as aerodynamic structure, the landing position accuracy of most fixed-wing UAVs is difficult to guarantee. As a result, the positioning mechanism in the hangar is difficult to capture the UAV, and the battery replacement operation cannot be carried out smoothly. Utility Model Content

[0004] The purpose of the utility model is to provide a drone hangar to alleviate the technical problem in the prior art that the battery replacement action cannot be smoothly implemented due to the low accuracy of the drone landing position.

[0005] In the first aspect, the drone hangar provided by the present utility model includes: a take-off and landing platform, guide rails, a battery compartment and a battery-changing manipulator;

[0006] The lifting platform is slidably mounted on the guide rails, which extend into the hangar shell through the side openings;

[0007] The battery compartment and the battery-changing manipulator are respectively installed downstream of the guide rail. The battery-changing manipulator is used to grab the batteries in the battery compartment and replace the batteries of the UAV on the take-off and landing platform.

[0008] In combination with the first aspect, the present utility model provides a first possible implementation of the first aspect, wherein the lifting and lowering platform includes: a carrying platform, a first alignment component and a second alignment component;

[0009] The first alignment component and the second alignment component are respectively installed on the carrying platform;

[0010] The first alignment component is used to move the drone landed on the supporting platform to a preset area along the x-direction;

[0011] The second alignment component is used to move the drone landed on the supporting platform to a preset area along the y direction;

[0012] The x direction is perpendicular to the y direction, and the xy plane is parallel to the supporting platform.

[0013] In combination with the first possible implementation of the first aspect, the present utility model provides a second possible implementation of the first aspect, wherein the supporting platform is equipped with a guide wheel set and a driving wheel;

[0014] The guide wheel group is matched with the guide rail, and the driving wheel is used to drive the lifting platform to move along the guide rail.

[0015] In combination with the second possible implementation of the first aspect, the present utility model provides a third possible implementation of the first aspect, wherein the guide wheel assembly includes: a carrier, an upper pulley, a first side pulley and a second side pulley;

[0016] The upper pulley, the first side pulley and the second side pulley are respectively rotatably connected to the carrier frame;

[0017] The upper pulley is fitted on the top surface of the guide rail and rolls along the guide rail;

[0018] The axis of the first side pulley is parallel to the axis of the second side pulley and perpendicular to the axis of the upper pulley. The guide rail is fitted between the first side pulley and the second side pulley to enable the first side pulley and the second side pulley to roll along the guide rail respectively.

[0019] In combination with the first aspect, the present invention provides a fourth possible implementation of the first aspect, wherein the battery compartment includes: a thermostat and a battery box thermally connected to the thermostat, and the battery box is used to store batteries.

[0020] In combination with the first aspect, the present utility model provides a fifth possible implementation of the first aspect, wherein the battery-swapping manipulator includes: a translation drive device, a lifting drive device, and a clamping device;

[0021] The lifting drive device is installed on the movable part of the translation drive device, and the clamping device is installed on the movable end of the lifting drive device.

[0022] In combination with the fifth possible implementation of the first aspect, the present utility model provides a sixth possible implementation of the first aspect, wherein the clamping device includes: a first clamping arm, a second clamping arm, a clamping drive member, and a positioning plug;

[0023] The first clamping arm and the second clamping arm are respectively connected to the clamping driving member, and the clamping driving member drives the first clamping arm and the second clamping arm to move closer to or away from each other;

[0024] The first clamping arm and / or the second clamping arm is equipped with the positioning plug.

[0025] In combination with the first aspect, the present utility model provides a seventh possible implementation of the first aspect, wherein the drone hangar further comprises: a first positioning device;

[0026] The first positioning device is located at one end of the guide rail close to the battery compartment;

[0027] In the preliminary positioning condition, the lifting and lowering platform cooperates with the first positioning device.

[0028] In combination with the first aspect, the present utility model provides an eighth possible implementation of the first aspect, wherein the drone hangar further comprises: a second positioning device;

[0029] The second positioning device is adapted to at least one of the nose, fuselage and wings of the UAV to constrain and fix the UAV.

[0030] In combination with the eighth possible implementation manner of the first aspect, the present utility model provides a ninth possible implementation manner of the first aspect, wherein the second positioning device includes: a clamping drive member, and a fuselage contour member and / or a wing limiting member;

[0031] The clamping drive component is transmission-connected to the fuselage contour component and / or the wing limiting component.

[0032] The embodiments of the present utility model bring the following beneficial effects: the take-off and landing platform is slidably installed on the guide rail, the battery compartment and the battery-changing robot are respectively installed downstream of the guide rail, the battery in the battery compartment is grabbed by the battery-changing robot, and the battery of the UAV on the take-off and landing platform is replaced, and the take-off and landing platform can be moved in and out of the hangar shell after the UAV lands on the take-off and landing platform, and the battery replacement operation of the UAV can be replaced by manual labor.

[0033] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in related technologies, the following briefly introduces the drawings required for use in the specific implementation methods or related technical descriptions. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0035] Figure 1 A schematic diagram of a drone hangar provided by an embodiment of the present utility model;

[0036] Figure 2A schematic diagram of the take-off and landing platform and guide rails of a drone hangar provided in an embodiment of the present invention;

[0037] Figure 3 A partially enlarged schematic diagram of the support platform of the drone hangar provided by an embodiment of the utility model;

[0038] Figure 4 A schematic diagram of the battery compartment and battery-swapping manipulator of a drone hangar provided by an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of a clamping device for a drone hangar provided by an embodiment of the present utility model;

[0040] Figure 6 Schematic diagram of the battery replacement manipulator, first positioning device and second positioning device of the drone hangar provided in an embodiment of the utility model.

[0041] Icons: 100- take-off and landing platform; 110- load-bearing platform; 111- guide wheel assembly; 1111- load-bearing frame; 1112- upper pulley; 1113- first side pulley; 1114- second side pulley; 112- driving wheel; 120- first alignment component; 130- second alignment component; 200- guide rail; 300- battery compartment; 310- thermostat; 320- battery box; 400- battery replacement manipulator; 410- translation drive device; 420- lifting drive device; 430- clamping device; 431- first clamping arm; 432- second clamping arm; 433- clamping drive member; 434- positioning plug; 500- first positioning device; 600- second positioning device; 610- clamping drive member; 620- fuselage contour member; 630- wing limit member. DETAILED DESCRIPTION

[0042] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present invention.

[0043] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are only used to describe the difference in names, and cannot be understood as indicating or implying relative importance. Physical quantities in formulas, unless separately marked, should be understood as basic quantities of the basic units of the International System of Units, or derived quantities derived from basic quantities through mathematical operations such as multiplication, division, differentiation or integration.

[0044] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0045] like Figure 1 As shown, the drone hangar provided by the embodiment of the present invention includes: a take-off and landing platform 100, a guide rail 200, a battery compartment 300 and a battery-changing manipulator 400; the take-off and landing platform 100 is slidably installed on the guide rail 200, and the guide rail 200 extends into the hangar shell through the side opening; the battery compartment 300 and the battery-changing manipulator 400 are respectively installed downstream of the guide rail 200, and the battery-changing manipulator 400 is used to grab the battery in the battery compartment 300 and replace the battery of the drone on the take-off and landing platform 100.

[0046] The take-off and landing platform 100 can center a drone that has landed on it, thereby eliminating the impact of the drone's landing position deviation. In addition, the take-off and landing platform 100 can be moved along the guide rail 200 to the working area of ​​the battery replacement manipulator 400. The battery replacement manipulator 400 can grab the battery in the battery compartment 300 and replace the battery on the drone, replacing manual operation with the advantages of high battery replacement efficiency and stable operation.

[0047] like Figure 1 and Figure 2As shown, in an embodiment of the present invention, the take-off and landing platform 100 includes: a carrier platform 110, a first alignment component 120 and a second alignment component 130; the first alignment component 120 and the second alignment component 130 are respectively installed on the carrier platform 110; the first alignment component 120 is used to move the drone landed on the carrier platform 110 to a preset area along the x direction; the second alignment component 130 is used to move the drone landed on the carrier platform 110 to a preset area along the y direction; wherein the x direction is perpendicular to the y direction, and the xy plane is parallel to the carrier platform 110.

[0048] The first alignment assembly 120 drives the two first scrapers toward or away from each other in the x-direction, thereby achieving centering and resetting in the x-direction. The second alignment assembly 130 drives the two second scrapers toward or away from each other in the y-direction, thereby achieving centering and resetting in the y-direction. Both the first and second alignment assemblies 120 and 130 can be powered by a telescopic drive cylinder, a double-ended lead screw, or the like, to connect the two scrapers and synchronize their movement.

[0049] Furthermore, the platform 110 is equipped with a guide wheel assembly 111 and a drive wheel 112. The guide wheel assembly 111 engages with the guide rail 200, and the drive wheel 112 is used to drive the lifting platform 100 along the guide rail 200. The guide wheel assembly 111 can roll along the guide rail 200, reducing resistance to the movement of the platform 110 along the guide rail 200 and ensuring smoother movement. The circumference of the drive wheel 112 can contact the ground, the base, or the guide rail 200. The drive wheel 112 rotates through a power source, thereby driving the platform 110 along the guide rail 200.

[0050] like Figure 2 and Figure 3 As shown, the guide wheel group 111 includes: a supporting frame 1111, an upper pulley 1112, a first side pulley 1113 and a second side pulley 1114; the upper pulley 1112, the first side pulley 1113 and the second side pulley 1114 are respectively rotatably connected to the supporting frame 1111; the upper pulley 1112 is matched with the top surface of the guide rail 200 and rolls along the guide rail 200; the axis of the first side pulley 1113 is parallel to the axis of the second side pulley 1114 and perpendicular to the axis of the upper pulley 1112, and the guide rail 200 is matched between the first side pulley 1113 and the second side pulley 1114, so that the first side pulley 1113 and the second side pulley 1114 can roll along the guide rail 200 respectively, and the upper pulley 1112, the first side pulley 1113 and the second side pulley 1114 can roll along the guide rail 200 respectively, reducing the movement resistance and ensuring that the supporting platform 110 moves more smoothly along the guide rail 200.

[0051] like Figure 1 and Figure 4As shown, in an optional embodiment, the battery compartment 300 includes: a thermostat 310 and a battery box 320 thermally connected to the thermostat 310, the battery box 320 is used to store batteries, and the batteries inside the battery box 320 are subjected to constant temperature treatment by the thermostat 310 to avoid overcooling or overheating of the batteries, thereby improving the safety of the battery charging process and ensuring that the batteries are in a better temperature state when they are taken.

[0052] Furthermore, the battery-exchanging robot 400 includes: a translation drive device 410, a lifting drive device 420 and a clamping device 430; the lifting drive device 420 is installed on the movable part of the translation drive device 410, and the clamping device 430 is installed on the movable end of the lifting drive device 420.

[0053] Among them, the translation drive device 410 and the lifting drive device 420 can form a three-axis translation platform. The translation drive device 410 can drive the lifting drive device 420 to move in the xy plane, and the lifting drive device 420 drives the clamping device 430 to move along the z direction perpendicular to the xy plane. The position of the clamping device 430 can be adjusted according to the set coordinates and path to realize the battery replacement action of the drone.

[0054] like Figure 4 and Figure 5 As shown, the clamping device 430 includes: a first clamping arm 431, a second clamping arm 432, a clamping drive 433 and a positioning plug 434; the first clamping arm 431 and the second clamping arm 432 are respectively connected to the clamping drive 433, and the clamping drive 433 drives the first clamping arm 431 and the second clamping arm 432 to approach or move away from each other; the first clamping arm 431 and / or the second clamping arm 432 are installed with a positioning plug 434.

[0055] The positioning plug 434 can be installed on the first clamping arm 431, the second clamping arm 432, or the first clamping arm 431 and the second clamping arm 432. When replacing the battery, the clamping drive 433 drives the first clamping arm 431 and the second clamping arm 432 toward each other, and the battery can be clamped by the first clamping arm 431 and the second clamping arm 432. The positioning plug 434 can cooperate with the battery or the battery compartment 300, thereby ensuring that the clamping device 430 is accurately aligned.

[0056] like Figure 1 and Figure 6 As shown, the UAV hangar further includes: a first positioning device 500; the first positioning device 500 is located at one end of the guide rail 200 close to the battery compartment 300; in the preliminary positioning condition, the take-off and landing platform 100 cooperates with the first positioning device 500.

[0057] The first positioning device 500 can be provided with a positioning hole or a positioning protrusion, and correspondingly, the take-off and landing platform 100 is provided with a positioning pin or a limit groove adapted to the first positioning device 500. When the take-off and landing platform 100 moves along the guide rail 200 into the working area of ​​the battery swapping manipulator 400, the first positioning device 500 cooperates with the take-off and landing platform 100 to achieve preliminary positioning of the take-off and landing platform 100 and the UAV landing thereon.

[0058] like Figure 6 As shown, the drone hangar also includes a second positioning device 600. The second positioning device 600 is adapted to at least one of the drone's nose, fuselage, or wings to constrain and secure the drone. The second positioning device 600 can be configured as a notch, a clamping structure, or the like, and can be adapted to at least one of the drone's nose, fuselage, or wings to further position the drone.

[0059] In an optional embodiment, the second positioning device 600 includes: a clamping drive 610, and a fuselage contour member 620 and / or a wing stopper 630; the clamping drive 610 is transmission-connected to the fuselage contour member 620 and / or the wing stopper 630. The second positioning device 600 includes the clamping drive 610 and the fuselage contour member 620, or the second positioning device 600 includes the clamping drive 610 and the wing stopper 630, or the second positioning device 600 includes the clamping drive 610, the fuselage contour member 620, and the wing stopper 630; the clamping drive 610 uses a linear drive guide or a telescopic drive cylinder to drive the fuselage contour member 620 and the wing stopper 630 to move, thereby enabling the fuselage contour member 620 and the wing stopper 630 to respectively fit the drone. The fuselage contour piece 620 can be fitted to the outer wall of the fuselage, and the positioning of the fuselage can be achieved by closely fitting the fuselage; the wing limiting piece 630 can be provided with a slot, and the wing can be inserted into the slot, thereby achieving the positioning of the wing.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A drone hangar, characterized in that: include: A lifting and landing platform (100), a guide rail (200), a battery compartment (300), and a battery-exchanging manipulator (400); The lifting platform (100) is slidably mounted on the guide rail (200), and the guide rail (200) extends into the hangar shell through the side opening; The battery compartment (300) and the battery-changing manipulator (400) are respectively installed on the hangar shell, and the battery-changing manipulator (400) is used to grab the battery in the battery compartment (300) and replace the battery of the drone on the take-off and landing platform (100).

2. The drone hangar according to claim 1, characterized in that: The lifting and lowering platform (100) comprises: a bearing platform (110), a first alignment component (120) and a second alignment component (130); The first alignment component (120) and the second alignment component (130) are respectively installed on the supporting platform (110); The first alignment component (120) is used to move the drone landed on the carrier platform (110) to a preset area along the x direction; The second alignment component (130) is used to move the drone landed on the carrier platform (110) to a preset area along the y direction; The x direction is perpendicular to the y direction, and the xy plane is parallel to the supporting platform (110).

3. The drone hangar according to claim 2, characterized in that: The bearing platform (110) is equipped with a guide wheel group (111) and a driving wheel (112); The guide wheel group (111) is matched with the guide rail (200), and the driving wheel (112) is used to drive the lifting platform (100) to move along the guide rail (200).

4. The drone hangar according to claim 3, characterized in that: The guide wheel group (111) comprises: a carrier (1111), an upper pulley (1112), a first side pulley (1113) and a second side pulley (1114); The upper pulley (1112), the first side pulley (1113) and the second side pulley (1114) are respectively rotatably connected to the supporting frame (1111); The upper pulley (1112) is fitted on the top surface of the guide rail (200) and rolls along the guide rail (200).

5. The drone hangar according to claim 1, characterized in that: The battery compartment (300) includes a battery box (320) for storing batteries.

6. The drone hangar according to claim 1, characterized in that: The battery-exchanging manipulator (400) comprises: a translation drive device (410), a lifting drive device (420), and a clamping device (430); The lifting drive device (420) is installed on the movable portion of the translation drive device (410), and the clamping device (430) is installed on the movable end of the lifting drive device (420).

7. The drone hangar according to claim 6, characterized in that: The clamping device (430) comprises: a first clamping arm (431), a second clamping arm (432), a clamping drive member (433) and a positioning plug (434); The first clamping arm (431) and the second clamping arm (432) are respectively connected to the clamping driving member (433), and the clamping driving member (433) drives the first clamping arm (431) and the second clamping arm (432) to move closer to or farther away from each other; The first clamping arm (431) and / or the second clamping arm (432) is / are installed with the positioning plug (434).

8. The drone hangar according to claim 1, characterized in that: The drone hangar further comprises: a first positioning device (500); The first positioning device (500) is located at one end of the guide rail (200) close to the battery compartment (300); In the initial positioning condition, the lifting and lowering platform (100) cooperates with the first positioning device (500).

9. The drone hangar according to claim 1, characterized in that: The drone hangar further comprises: a second positioning device (600); The second positioning device (600) is adapted to at least one of the nose, fuselage and wings of the drone, and is used to constrain and fix the drone.

10. The drone hangar according to claim 9, characterized in that: The second positioning device (600) comprises: a clamping driving member (610), and a fuselage contour member (620) and / or a wing limiting member (630); The clamping drive member (610) is transmission-connected to the fuselage contour member (620) and / or the wing limiting member (630).

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