CN109552789A - Unmanned plane transfer robot, storage system and transfer method, Maintenance and Repair system and method - Google Patents
Unmanned plane transfer robot, storage system and transfer method, Maintenance and Repair system and method Download PDFInfo
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- CN109552789A CN109552789A CN201811275711.4A CN201811275711A CN109552789A CN 109552789 A CN109552789 A CN 109552789A CN 201811275711 A CN201811275711 A CN 201811275711A CN 109552789 A CN109552789 A CN 109552789A
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- unmanned plane
- transfer robot
- support frame
- maintenance
- mechanical arm
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0407—Storage devices mechanical using stacker cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/22—Ground or aircraft-carrier-deck installations installed for handling aircraft
- B64F1/222—Ground or aircraft-carrier-deck installations installed for handling aircraft for storing aircraft, e.g. in hangars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/40—Maintaining or repairing aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F5/00—Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F5/50—Handling or transporting aircraft components
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/08—Masts; Guides; Chains
- B66F9/085—Multiple forks, i.e. more than one pair mounted on a single mast or with more than one mast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/16—Platforms; Forks; Other load supporting or gripping members inclinable relative to mast
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
- B66F9/18—Load gripping or retaining means
Abstract
The invention belongs to transfer robot technical fields, are related to unmanned plane transfer robot, unmanned plane storage system and transfer method, unmanned plane Maintenance and Repair system and Maintenance and Repair method.Support frame is installed, support frame is arranged the docking mechanism for being capable of fixing unmanned plane, elevating mechanism connection supportive body and support frame and support frame can be driven with respect to supportive body adjustable height on the outside of supportive body.Supportive body is installed on moving assembly, and can be slided on the ground with moving assembly.Unmanned plane transfer robot is able to achieve the automatic clamping and placing to unmanned plane and the automatic transporting on ground.The unmanned plane transfer robot can substitute manpower to improve pick-and-place and carry the efficiency of unmanned plane, and avoid security risk caused by staff and the contact of running unmanned plane.Unmanned plane can efficiently be carried and be accommodated in the different location of storage storehouse by unmanned plane storage system.Unmanned plane Maintenance and Repair system efficiently can carry out maintenance repair maintenance to unmanned plane.
Description
Technical field
The invention belongs to transfer robot technical fields, are to be related to unmanned plane transfer robot, unmanned plane more specifically
Transfer method, unmanned plane Maintenance and Repair system and the application unmanned plane maintenance of storage system and application the unmanned plane storage system
The Maintenance and Repair method of examination and repair system.
Background technique
As the application of unmanned plane constantly expands, it will appear the dedicated airport for cooperating a large amount of unmanned plane landings and parking in the future
Or facility, such as the dedicated logistics distribution website of picking is sent applied to unmanned plane on a large scale.If taken using manpower to unmanned plane
It puts and is carried in ground short distance, such as unmanned plane is shifted between landing site and storage place, not only low efficiency, there is also
Staff and running unmanned plane contact caused by security risk.
Summary of the invention
The purpose of the present invention is to provide unmanned plane transfer robot, unmanned plane storage system and transfer methods, unmanned plane
Maintenance and Repair system and Maintenance and Repair method, with solve the prior art using manpower realize unmanned plane ground short distance carry,
Maintenance repair maintenance is carried out to unmanned plane using manpower, low efficiency and there is technical issues that.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of unmanned plane transfer robot is provided, comprising:
Supportive body；
Moving assembly set on the supportive body bottom；
Support frame on the outside of the supportive body；
Docking mechanism set on support frame as described above and for fixing unmanned plane；And
For driving the elevating mechanism of the relatively described supportive body adjustable height of support frame as described above.
Further, the surrounding of the supportive body is symmetrically distributed with multiple support frames as described above, each support frame as described above
One end is respectively provided with the docking mechanism.
Further, the elevating mechanism includes being installed on the supportive body and supportive body lifting height relatively
The mounting base of degree and the driving unit for realizing the mounting base adjustable height.
Further, support frame as described above is articulated with the mounting base, and support frame as described above has unfolded state and rounding state,
The docking mechanism is when support frame as described above is in unfolded state far from the supportive body, and the docking mechanism is in the support
Close to the supportive body when frame is in rounding state.
Further, the docking mechanism include the card slot being clasped with unmanned plane and for for unmanned plane power supply and
The interface that is electrically connected of data communication.
It further, further include perception component, for assisting transfer robot to pick and place unmanned plane operation and conveying robot
Navigation avoidance of people during ground moving.
The present invention provides a kind of unmanned plane storage system, described including storage storehouse and above-mentioned unmanned plane transfer robot
Storage storehouse is used to park the unmanned plane of standby mode, and the unmanned plane transfer robot is used to play the unmanned plane of standby mode
Automatic clamping and placing and automatic transporting between platform and the storage storehouse drop.
The present invention provides a kind of transfer method of the above-mentioned unmanned plane storage system of application, comprising the following steps:
Unmanned plane transfer robot is located at unmanned plane below or above close to landing platform and by the docking mechanism of support frame
Designated position；
Elevating mechanism driving support frame is raised and lowered so that docking mechanism and unmanned plane docking and locking；
The mobile unmanned plane that unmanned plane is taken away landing platform and is transferred to storage storehouse of unmanned plane transfer robot stores up
It deposits in position；And
Support frame is driven to reduce or increase for elevating mechanism so that docking mechanism and unmanned plane unlock and separation.
The present invention provides a kind of unmanned plane Maintenance and Repair system, including first mechanical arm, second mechanical arm and above-mentioned nothing
Man-machine transfer robot；The end of the first mechanical arm is equipped at least one of air pressure gun, paint spray nozzle, cleaning (operating) water nozzle,
The end of the first mechanical arm is additionally provided with the first camera；The end of the second mechanical arm is equipped with manipulator and the second camera shooting
Head.
The present invention provides a kind of Maintenance and Repair method of the above-mentioned unmanned plane Maintenance and Repair system of application, comprising the following steps:
Unmanned plane is moved to designated position near first mechanical arm and second mechanical arm by unmanned plane transfer robot, and is adjusted
The support frame of section docking unmanned plane is to specified altitude assignment；
Unmanned plane transfer robot fixes unmanned plane as workbench, and first mechanical arm and second mechanical arm are to unmanned plane
Maintenance and Repair operation is carried out, and unmanned plane transfer robot can also be by itself rotation and movement, or adjusts support frame height
Degree is to assist first mechanical arm and second mechanical arm to carry out Maintenance and Repair operation to multiple and different positions of unmanned plane.
The present invention having the technical effect that compared with the existing technology is equipped with support frame on the outside of supportive body, support is set up
It sets the docking mechanism for being capable of fixing unmanned plane, elevating mechanism connection supportive body and support frame and can drive support frame is opposite to support master
Body adjustable height.Supportive body is installed on moving assembly, and can be slided on the ground with moving assembly.Unmanned plane conveying robot
People is able to achieve the automatic clamping and placing to unmanned plane and the automatic transporting on ground, such as unmanned plane is deployed in landing platform or from
Drop platform takes unmanned plane away, and shifts between the different places such as storage storehouse of landing platform and unmanned plane or device.The nothing
Man-machine transfer robot can substitute manpower to improve pick-and-place and carry the efficiency of unmanned plane, and avoid in staff and operation
Unmanned plane contact caused by security risk.Unmanned plane can be carried efficiently and be accommodated in storage storehouse by unmanned plane storage system
Different location.Unmanned plane Maintenance and Repair system efficiently can carry out maintenance repair maintenance to unmanned plane.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the three-dimensional installation diagram of unmanned plane transfer robot provided in an embodiment of the present invention；
Fig. 2 is schematic diagram of the unmanned plane transfer robot of Fig. 1 when carrying unmanned plane；
Fig. 3 is the three-dimensional structure diagram of unmanned plane；
Schematic diagram of the unmanned plane transfer robot that Fig. 4 is Fig. 1 when landing platform picks and places unmanned plane；
Fig. 5 is the schematic diagram of unmanned plane storage system provided in an embodiment of the present invention；
Fig. 6 is the top view of the unmanned plane storage system of Fig. 5；
Fig. 7 is the schematic diagram of unmanned plane Maintenance and Repair system provided in an embodiment of the present invention；
The structure chart for the first mechanical arm end applied in the unmanned plane Maintenance and Repair system that Fig. 8 is Fig. 7.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, tie below
Accompanying drawings and embodiments are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or indirectly on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
It is to be appreciated that term " length ", " width ", "upper", "lower", "front", "rear", "left", "right", "vertical",
The orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is that orientation based on the figure or position are closed
System, is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must have
Specific orientation is constructed and operated in a specific orientation, therefore is not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Also referring to Fig. 1 to Fig. 5, first unmanned plane transfer robot 100 provided by the invention is illustrated.Unmanned plane
Transfer robot 100 include supportive body 10, set on 10 bottom of supportive body moving assembly 20, be set to the outside of supportive body 10
Support frame 30, set on support frame 30 and for fixing the docking mechanism 40 of unmanned plane 200 and for driving 30 phase of support frame
To the elevating mechanism 50 of 10 adjustable height of supportive body.
Specifically, the outside of supportive body 10 is equipped with support frame 30, one end setting of support frame 30 is capable of fixing unmanned plane
200 docking mechanism 40, elevating mechanism 50 connect supportive body 10 and support frame 30 and can drive the opposite support master of support frame 30
10 adjustable height of body.Supportive body 10 is installed on moving assembly 20, and can be slided on the ground with moving assembly 20.Unmanned plane
Transfer robot 100 is able to achieve the automatic clamping and placing to unmanned plane 200 and the automatic transporting on ground, such as certainly by unmanned plane 200
It is dynamic to be deployed in landing platform 300 or take unmanned plane 200 away automatically from landing platform 300, and in landing platform 300 and unmanned plane
Automatic transporting between the different places such as 200 storage storehouse 400 or device.The unmanned plane transfer robot 100 can substitute manpower with
The efficiency for picking and placing and carrying unmanned plane 200 is improved, and is avoided caused by staff and the contact of running unmanned plane 200
Security risk.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, support master
The surrounding of body 10 is symmetrically distributed with multiple support frames 30, and one end of each support frame 30 is respectively provided with one and is capable of fixing unmanned plane 200
Docking mechanism 40, to realize unmanned plane transfer robot 100 while carry multiple unmanned planes 200, improve carry unmanned plane 200
Efficiency.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, elevator
Structure 50 includes being installed on supportive body 10 and can be with respect to the mounting base 51 and realization mounting base of 10 adjustable height of supportive body
The driving unit (not shown) of 51 adjustable heights.Wherein driving unit can drive for motor lead screw driving unit or linear motor
Moving cell etc..Specifically, each support frame 30 is respectively arranged on an elevating mechanism 50, to realize that each support frame 30 can be independent
Height is adjusted, is independent of each other, such as Fig. 1 and Fig. 2.Multiple support frames 30 can also be set on same elevating mechanism 50, i.e., to multiple
The integrally-regulated height of support frame 30, to reduce the quantity setting of elevating mechanism 50.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, support frame
30 are articulated with mounting base 51 and can switch between unfolded state 30a and rounding state 30b, wherein docking mechanism 40 is supporting
Far from supportive body 10 when frame 30 is in unfolded state 30a, docking mechanism 40 is close when support frame 30 is in rounding state 30b
Supportive body 10.For carrying out pick-and-place and Maintenance and Repair operation to unmanned plane 200 when support frame 30 is in unfolded state 30a.Branch
Support 30 can effectively reduce 100 horizontal projected area of unmanned plane transfer robot when being in rounding state 30b, be conducive to nobody
Machine transfer robot 100 passes through narrow space or reduces occupied space when transfer robot 100 is standby to be parked.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, unmanned plane
Transfer robot 100 further includes being connected between mounting base 51 and support frame 30 and for driving support frame 30 with respect to mounting base 51
The telescoping mechanism 60 rotated in perpendicular, to realize the cutting between unfolded state 30a and rounding state 30b of support frame 30
It changes.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, telescopic machine
60 one end of structure is articulated with mounting base 51, and the other end is articulated with support frame 30.Telescoping mechanism 60 elongates or shortens, and realizes support frame 30
Switching between unfolded state 30a and rounding state 30b.When telescoping mechanism 60 extends, support frame 30 switches to expansion shape
State 30a.When telescoping mechanism 60 shortens, support frame 30 switches to rounding state 30b.Telescoping mechanism 60 can be push-rod electric machine or liquid
Cylinder pressure.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, docking machine
Structure 40 includes with the card slot 41 of 202 cooperation of the buckle of unmanned plane 200 and for powering for unmanned plane 200 and data communication is electrically connected
Interface 42.When docking mechanism 40 needs and unmanned plane 200 docks, docking mechanism 40 is against unmanned plane 200 and makes the interface that is electrically connected
42 are electrically connected with the data-interface (not shown) of unmanned plane, unmanned plane 200 detect be electrically connected with docking mechanism 40 after control
Buckle 202 automatically lock docking mechanisms 40.When docking mechanism 40 needs and unmanned plane 200 separates, unmanned plane transfer robot
100 send instruction to unmanned plane 200 by being electrically connected interface 42, so that the control 202 automatic unlocking docking mechanisms of buckle of unmanned plane 200
40.Specifically, in the present embodiment, the buckle 202 and data-interface of unmanned plane 200 are set to the battery flat 201 of unmanned plane 200
It is interior.Certainly, the buckle 202 of unmanned plane 200 and data-interface also can be set in other positions of unmanned plane 200, such as fuselage
Top.Alternatively, it is also possible to the setting buckle 202 on docking mechanism 40, card slot 41, docking machine are set on 200 fuselage of unmanned plane
Structure 40 is detected be electrically connected with unmanned plane 200 after control buckle 202 automatically lock unmanned planes 200 with realize and unmanned plane 200 it is right
It connects.
Further, moving assembly 20 being capable of direction movement.Specifically, realizing the mode of the direction movement of moving assembly 20
To be equipped with driving wheel and universal wheel, can also be realized by crawler belt, it is flexible with the movement for promoting unmanned plane transfer robot 100
Property, and realize 100 pivot stud of unmanned plane transfer robot.
Further, a kind of specific embodiment as unmanned plane transfer robot 100 provided by the invention, unmanned plane
Transfer robot 100 further includes perception component 70, for assisting transfer robot 100 to pick and place the operation of unmanned plane 200 and carrying
Navigation avoidance of the robot 100 during ground moving.Specifically, perception component 70 can be camera, laser radar, surpass
The combination of one or more of the sensors such as sound wave, to realize to the detection and identification of periphery object and the survey of azran
Amount.In the present embodiment, perception component 70 is installed at the top of supportive body 10 and symmetrical along the surrounding of supportive body 10, such as
Fig. 1 and Fig. 2 is moved with assisting multiple support frames 30 to pick and place the operation of unmanned plane 200 and unmanned plane transfer robot 100 along multiple directions
Dynamic navigation avoidance.Perception component 70 can also only be set to the side of supportive body 10, and perception component 70 can be in horizontal plane
Interior Omnidirectional rotation alternatively, support frame 30 and mounting base 51 can be in the horizontal plane around 10 Omnidirectional rotations of supportive body, and then makes to feel
Know that component 70 can assist multiple support frames 30 to pick and place unmanned plane 200 and operate.
Please refer to Fig. 5, Fig. 6, the present invention also provides a kind of unmanned plane storage system, including storage storehouse 400 and above-mentioned
The unmanned plane transfer robot 100 of any embodiment, wherein storage storehouse 400 is used to park the unmanned plane 200 of standby mode, nothing
Man-machine transfer robot 100 for taking the unmanned plane 200 of standby mode automatically between landing platform 300 and storage storehouse 400
It puts and automatic transporting.Specifically, storage storehouse 400 is a row or multi-row unmanned plane storage shelf 410, every row's unmanned plane storage shelf 410
It is made of in same vertical plane in the unmanned plane bit of storage 401 of array distribution multiple, stores nobody with homalographic place to improve
The quantity of machine 200, each unmanned plane bit of storage 401 can park a frame unmanned plane 200 and at least provided with one for unmanned plane
The opening of the pick-and-place unmanned plane 200 of transfer robot 100.In the present embodiment, storage storehouse 400 include two-row spacing certain distance simultaneously
And the unmanned plane storage shelf 410 that opening is opposite, unmanned plane transfer robot 100 can be between two rows of unmanned plane storage shelfs 410
Region move freely.
Specifically, unmanned plane 200 is transferred to the mistake of storage storehouse 400 by unmanned plane transfer robot 100 from landing platform 300
Cheng Shi: unmanned plane transfer robot 100 makes at least one undocked unmanned plane 200 when being moved near landing platform 300
Support frame 30 is in unfolded state 30a and opposite supportive body 10 is in specified altitude assignment, and unmanned plane transfer robot 100 is close to be risen
Drop platform 300 is until the docking mechanism 40 of the support frame 30 under unfolded state 30a is located at 200 below or above specific bit of unmanned plane
It sets, support frame 30 is driven to be raised and lowered for elevating mechanism 50 so that docking mechanism 40 and the docking of unmanned plane 200 and locking, unmanned plane
Transfer robot 100 is mobile so that unmanned plane 200 is far from 300 top of landing platform.Unmanned plane transfer robot 100 will dock nothing
Man-machine 200 support frame 30 switches to rounding state 30b and is moved near the unmanned plane storage shelf 410 of storage storehouse 400, above-mentioned
The support frame 30 of docking unmanned plane 200 is switched to unfolded state 30a again and is located at specified altitude assignment, and transfer robot 100 is mobile
Until the unmanned plane 200 of above-mentioned support frame 30 docking protrudes into a unmanned plane bit of storage 401 of storage storehouse 400 and is located at specific bit
It sets.Support frame 30 is driven to reduce or increase for elevating mechanism 50 so that docking mechanism 40 and the unlock of unmanned plane 200 and separation, carrying implement
Device people 100 is mobile simultaneously to make support frame 30 far from above-mentioned unmanned plane bit of storage 401, to complete unmanned plane 200 from landing platform
300 are transferred to the process of storage storehouse 400.
Please refer to Fig. 7, Fig. 8, the present invention also provides a kind of unmanned plane Maintenance and Repair systems, including first mechanical arm
510, second mechanical arm 520 and above-mentioned unmanned plane transfer robot 100；The end of first mechanical arm 510 be equipped with air pressure gun 511,
At least one of paint spray nozzle 512, cleaning (operating) water nozzle 513, the end of first mechanical arm 510 is additionally provided with the first camera 514；
The end of second mechanical arm 520 is equipped with manipulator 521 and second camera (not shown).
In first mechanical arm 510, the first camera 514 for detecting 200 surface appearance of unmanned plane, including nobody automatically
The degree of fouling of machine fuselage surface, with the presence or absence of structural damage etc., and auxiliary 510 motion control of first mechanical arm.Paint
Nozzle 512 is for repairing the lacquer painting of unmanned plane 200.Cleaning (operating) water nozzle 513 is for cleaning 200 surface blot of unmanned plane.
Air pressure gun 511 for blow down 200 surface dust accumulation of unmanned plane or by air outlet heating for dry up 200 surface of unmanned plane it is water stain and
Paint.In second mechanical arm 520, for replacing unmanned plane 200 component, such as blade, motor etc., second takes the photograph manipulator 521
As head for detecting 200 surface appearance of unmanned plane and auxiliary 520 motion control of second mechanical arm automatically.
In a kind of wherein specific embodiment, it includes at least one first mechanical arm 510 that a group maintenance, which overhauls unit,
With at least one second mechanical arm 520, first mechanical arm 510 and the interval of second mechanical arm 520 of every group maintenance maintenance unit are set
It sets and opposite, Maintenance and Repair operation is carried out to a unmanned plane simultaneously to realize.Specifically, unmanned plane Maintenance and Repair system is to nothing
The process of man-machine 200 progress Maintenance and Repair is: unmanned plane 200 is moved to a group maintenance and overhauled by unmanned plane transfer robot 100
Designated position near unit, so that support frame 30 of at least one docking unmanned plane 200 switches to unfolded state 30a and opposite branch
Support main body 10 is in specified altitude assignment, and unmanned plane transfer robot 100 fixes unmanned plane 200 so that maintenance inspection as workbench
The first mechanical arm 510 and second mechanical arm 520 for repairing unit can carry out Maintenance and Repair operation, and unmanned plane to unmanned plane 200
Transfer robot 100 is by itself rotation and movement, or adjusts 30 height of support frame to assist first mechanical arm 510 and second
Mechanical arm 520 carries out Maintenance and Repair operation to multiple and different positions of unmanned plane 200.In addition, Maintenance and Repair unit can be set
Multiple groups are set, such as two groups of Maintenance and Repair units spaced apart are set, intermediate area is unmanned plane transfer robot
100 regions for passing through and stopping, it is same to the fixed unmanned plane 200 of 100 opposite sides of unmanned plane transfer robot to realize
Shi Jinhang Maintenance and Repair operation, such as Fig. 7, to improve the efficiency of Maintenance and Repair unmanned plane 200.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. unmanned plane transfer robot characterized by comprising
Supportive body；
Moving assembly set on the supportive body bottom；
Support frame on the outside of the supportive body；
Docking mechanism set on support frame as described above and for fixing unmanned plane；And
For driving the elevating mechanism of the relatively described supportive body adjustable height of support frame as described above.
2. unmanned plane transfer robot as described in claim 1, which is characterized in that the surrounding of the supportive body is symmetrical
There are multiple support frames as described above, one end of each support frame as described above is respectively provided with the docking mechanism.
3. unmanned plane transfer robot as described in claim 1, which is characterized in that the elevating mechanism is described including being installed on
On supportive body and the mounting base of the relatively described supportive body adjustable height and the driving list for realizing the mounting base adjustable height
Member.
4. unmanned plane transfer robot as claimed in claim 3, which is characterized in that support frame as described above is articulated with the installation
Seat, support frame as described above have unfolded state and rounding state, and the docking mechanism is remote when support frame as described above is in unfolded state
From the supportive body, the docking mechanism is when support frame as described above is in rounding state close to the supportive body.
5. such as the described in any item unmanned plane transfer robots of Claims 1-4, which is characterized in that the docking mechanism includes
The card slot that is clasped with unmanned plane and for the interface that is electrically connected for unmanned plane power supply and data communication.
6. such as the described in any item unmanned plane transfer robots of Claims 1-4, which is characterized in that further include perception component, use
The navigation avoidance of unmanned plane operation and transfer robot during ground moving is picked and placed in auxiliary transfer robot.
7. unmanned plane storage system, which is characterized in that including storage storehouse and such as unmanned plane as claimed in any one of claims 1 to 6
Transfer robot, the storage storehouse are used to park the unmanned plane of standby mode, and the unmanned plane transfer robot is used for will be standby
The unmanned plane of state automatic clamping and placing and automatic transporting between landing platform and the storage storehouse.
8. a kind of transfer method of application unmanned plane storage system as claimed in claim 7, which is characterized in that including following step
It is rapid:
Unmanned plane transfer robot is close to landing platform and the docking mechanism of support frame is located at unmanned plane below or above specifies
Position；
Elevating mechanism driving support frame is raised and lowered so that docking mechanism and unmanned plane docking and locking；
Unmanned plane is taken away landing platform and is transferred to a unmanned plane bit of storage of storage storehouse by the movement of unmanned plane transfer robot
It is interior；And
Support frame is driven to reduce or increase for elevating mechanism so that docking mechanism and unmanned plane unlock and separation.
9. unmanned plane Maintenance and Repair system, which is characterized in that including first mechanical arm, second mechanical arm and such as claim 1 to 6
Described in any item unmanned plane transfer robots；The end of the first mechanical arm is equipped with air pressure gun, paint spray nozzle, cleaning (operating) water nozzle
At least one of, the end of the first mechanical arm is additionally provided with the first camera；The end of the second mechanical arm is equipped with machine
Tool hand and second camera.
10. a kind of Maintenance and Repair method of application unmanned plane Maintenance and Repair system as claimed in claim 9, which is characterized in that
The following steps are included:
Unmanned plane is moved to designated position near first mechanical arm and second mechanical arm, and adjusting pair by unmanned plane transfer robot
The support frame of unmanned plane is connect to specified altitude assignment；
Unmanned plane transfer robot is fixed unmanned plane, first mechanical arm and second mechanical arm as workbench and is carried out to unmanned plane
Maintenance and Repair operation, and unmanned plane transfer robot can also by itself rotation and mobile, or adjust support frame height with
First mechanical arm and second mechanical arm is assisted to carry out Maintenance and Repair operation to multiple and different positions of unmanned plane.
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