CN110937127A - Automatic charging hangar of unmanned aerial vehicle - Google Patents

Automatic charging hangar of unmanned aerial vehicle Download PDF

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Publication number
CN110937127A
CN110937127A CN201911358218.3A CN201911358218A CN110937127A CN 110937127 A CN110937127 A CN 110937127A CN 201911358218 A CN201911358218 A CN 201911358218A CN 110937127 A CN110937127 A CN 110937127A
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CN
China
Prior art keywords
sliding
motor
supporting
seat
rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911358218.3A
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Chinese (zh)
Inventor
梁海涛
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Saimo Electric Co Ltd
Original Assignee
Shanghai Saimo Electric Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Saimo Electric Co Ltd filed Critical Shanghai Saimo Electric Co Ltd
Priority to CN201911358218.3A priority Critical patent/CN110937127A/en
Publication of CN110937127A publication Critical patent/CN110937127A/en
Pending legal-status Critical Current

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    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
    • B60L53/36—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles by positioning the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/44—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages for storing aircraft
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The invention discloses an automatic charging hangar of an unmanned aerial vehicle, which comprises: the hangar shell comprises a supporting rod, a supporting column, a supporting fixed rod and a sealed shell, wherein the supporting column and the supporting fixed rod are arranged on the supporting rod, and the sealed shell is arranged on the supporting rod and the supporting column; the battery replacing part comprises a lifter and a battery loading and unloading part, and the lifter and the battery loading and unloading part are both arranged on the supporting and fixing rod; the middle part comprises a longitudinal middle part and a transverse middle part, and the longitudinal middle part is arranged on the supporting upright rod; the storehouse door part comprises a storehouse door sliding groove, a storehouse door sliding rail, a storehouse door plate and a storehouse door power part, wherein the storehouse door sliding groove and the storehouse door power part are both arranged on the top end supporting rod, the storehouse door sliding rail is arranged on the storehouse door sliding groove, and the storehouse door plate is arranged on the storehouse door sliding rail. The invention has high automation degree, safety and reliability, can obviously reduce the labor intensity of workers, obviously reduce the labor input and the operation cost, and is suitable for large-area popularization and use.

Description

Automatic charging hangar of unmanned aerial vehicle
Technical Field
The invention relates to the technical field of unmanned aerial vehicle corollary equipment, in particular to an automatic charging hangar of an unmanned aerial vehicle.
Background
With the increase of cognition on the application value of the unmanned aerial vehicle, the unmanned aerial vehicle has the rapid development trend in the consumption level market, the industrial level market and the military level market. Unmanned aerial vehicles are increasingly being used in many fields.
But unmanned aerial vehicle's duration becomes the biggest bottleneck that hinders unmanned aerial vehicle development, though lithium battery is the best battery of comprehensive properties on the existing market, still can't satisfy unmanned aerial vehicle duration demand completely, consequently must consider unmanned aerial vehicle problem of charging in the unmanned aerial vehicle use.
The existing unmanned aerial vehicle hangar has the following defects:
1. traditional unmanned aerial vehicle hangar is for being fit for the storing frame of unmanned aerial vehicle size really, because there is certain position error after unmanned aerial vehicle descends, unmanned aerial vehicle's parking, storage and management all need the people to come manual completion, and work load is very big.
2. Because unmanned aerial vehicle need frequently charge, and unmanned aerial vehicle quantity is great, is manually charged it by the staff according to traditional mode and needs huge human input.
Therefore, the unmanned aerial vehicle automatic charging hangar is high in automation degree, safe and reliable, capable of obviously reducing labor intensity of workers, obviously reducing labor input, obviously reducing operation cost and suitable for large-area popularization and use, and has important significance.
Disclosure of Invention
In order to overcome the defects, the invention provides an automatic unmanned aerial vehicle charging hangar, which specifically adopts the following technical scheme:
an unmanned aerial vehicle automatic charging hangar, comprising:
the hangar shell, the hangar shell includes bracing piece, support column, support dead lever and closed shell, the support column with the support dead lever all sets up on the bracing piece, closed shell sets up the bracing piece with on the support column.
The battery reloading part is arranged on the machine base shell and comprises a lifter and a battery loading and unloading part, and the lifter and the battery loading and unloading part are both arranged on the supporting and fixing rod.
And the middle part is arranged on the hangar shell and comprises a longitudinal middle part and a transverse middle part, the longitudinal middle part is arranged on the supporting upright rod, and the transverse middle part is arranged on the longitudinal middle part.
The storehouse door part, storehouse door part sets up on the quick-witted storehouse shell, storehouse door part is including storehouse door spout, storehouse door slide rail, storehouse door plant and storehouse door power part, storehouse door spout with storehouse door power part all sets up on the top bracing piece, storehouse door slide rail sets up on the storehouse door spout, the storehouse door plant sets up on the storehouse door slide rail.
Preferably, the support rods comprise a bottom end support rod and a top end support rod, the bottom end support rod is provided with a plurality of support rods, and the bottom end support rods are fixedly connected end to end; the supporting columns are uniformly and vertically fixedly arranged on the bottom end supporting rod; the top end supporting rods are fixedly connected end to end and are fixedly arranged on the supporting columns; the supporting fixing rods are provided with a plurality of fixing rods, and the supporting fixing rods are fixedly arranged on the bottom end supporting rod.
The airtight shell comprises an outer surrounding plate and a horizontal opening door, the outer surrounding plate is arranged on the supporting rod and the supporting column, and the horizontal opening door is arranged on the supporting column; the peripheral plate is provided with a plurality of pieces and is fixedly arranged on the bottom end supporting rod and the side surface formed by the supporting columns; the vertical hinged door is fixedly arranged on one side face formed by the supporting columns.
Preferably, the lifter is a scissor-fork lifter, and the lifter is fixedly arranged on the support fixing rod; the battery loading and unloading part comprises a battery charging table and an assembling and disassembling mechanical arm, and the battery charging table and the assembling and disassembling mechanical arm are both arranged on the supporting and fixing rod; the battery charging table is internally provided with a lithium battery cell.
Preferably, the handling manipulator comprises a support column, a first slider, a second slider and a manipulator arm, wherein the first slider is arranged on the support column, the second slider is arranged on the first slider, and the manipulator arm is arranged on the second slider; the supporting upright post is columnar and is vertically and fixedly arranged on the supporting fixing rod; the first sliding part comprises a first sliding groove, a first sliding rail, a first motor, a first transmission belt and a first sliding seat, the first sliding groove is formed in the supporting stand column, the first sliding rail and the first motor are arranged on the first sliding groove, the first transmission belt is arranged on the first motor, and the first sliding seat is arranged on the first transmission belt.
Preferably, first spout is the U type slot form, first spout length is greater than lift projection length, first spout is followed the automatic charging of unmanned aerial vehicle storehouse is vertical horizontal fixation sets up on the support post.
The first motor is fixedly arranged on the side wall of one end of the first sliding chute and is a pneumatic motor; a first driving wheel is arranged at one end in the first sliding groove, the first driving wheel is fixedly connected with a rotating shaft of the first motor, and a first driven wheel is arranged at the other end in the first sliding groove; the first transmission belt is arranged on the first driving wheel and the first driven wheel.
The first sliding rail is generally plate-shaped, one end of the first sliding rail is fixedly arranged at one end of the first sliding groove, and the first sliding rail is parallel to the first sliding groove; the first sliding seat is in a groove shape, the bottom surface of the first sliding seat is fixedly arranged on the first transmission belt, and the first sliding seat is buckled outside the first sliding rail, so that the first sliding seat can move relatively along the first sliding rail.
Preferably, the second sliding member includes a second sliding chute, a second sliding rail, a second motor, a second transmission belt and a second sliding seat, the second sliding chute is disposed on the first sliding seat, the second sliding rail and the second motor are both disposed on the second sliding chute, the second transmission belt is disposed on the second motor, and the second sliding seat is disposed on the second transmission belt.
The second spout is the U type slot shape, second spout length is greater than lift projection width, the second spout is followed the automatic charging hangar of unmanned aerial vehicle horizontal fixation sets up on the first sliding seat.
The second motor is fixedly arranged on the side wall of one end of the second sliding chute and is a pneumatic motor; a second driving wheel is arranged at one end in the second sliding groove and fixedly connected with a rotating shaft of the second motor; a second driven wheel is arranged at the other end in the second sliding groove; the second transmission belt is arranged on the second driving wheel and the second driven wheel.
The second slide rail has the same structure as the first slide rail, one end of the second slide rail is fixedly arranged at one end of the second sliding chute, and the second slide rail is parallel to the second sliding chute; the second sliding seat has the same structure as the first sliding seat, the bottom surface of the second sliding seat is fixedly arranged on the second transmission belt, and the second sliding seat is buckled outside the second sliding rail, so that the second sliding seat can move relatively along the second sliding rail.
Preferably, robotic arm includes arm seat, motor, lead screw, spline and loading and unloading hand, the arm seat sets up on the second sliding seat, the motor sets up on the arm seat, the lead screw sets up on the motor, the spline sets up on the lead screw, the loading and unloading hand sets up on the spline.
The arm seat is right-angled, one right-angled edge of the arm seat is fixedly arranged on the second sliding seat, and the other right-angled edge of the arm seat is groove-shaped; the motor is vertically arranged at the folding angle of the arm seat, the screw rod is fixedly connected with a rotating shaft of the motor, and the screw rod is positioned in the other right-angle side groove of the arm seat; the spline is sleeved on the screw rod, and the spline is matched with the screw rod; the vertical setting of loading and unloading hand is in on the spline, the loading and unloading hand has the visual positioning function, can automatic identification unmanned aerial vehicle battery position to can realize auto-control handling to the unmanned aerial vehicle battery.
Preferably, the longitudinal centering portion includes a first longitudinal slide rail, a second longitudinal slide rail, a third motor, a third transmission belt, a third slide seat, a first centering rod and an auxiliary platform, the first longitudinal slide rail and the second longitudinal slide rail are both disposed on the support pillar, the third motor is disposed on the first longitudinal slide rail, the third transmission belt is disposed on the third motor, the third slide seat is disposed on the third transmission belt, the first centering rod is disposed on the third slide seat, and the auxiliary platform is disposed on the second longitudinal slide rail.
The first longitudinal slide rail is horizontally and fixedly arranged on the supporting upright column at one longitudinal side, and the second longitudinal slide rail is horizontally and fixedly arranged on the supporting upright column at the other longitudinal side; the third motor is fixedly arranged on the side wall of one end of the first longitudinal sliding rail through a first fixing seat, and the third motor is a pneumatic motor.
A third driving wheel is fixedly connected to the rotating shaft of the third motor, and the third driving wheel is positioned in the first fixed seat groove; a third driven wheel is arranged on the side wall of the other end of the first longitudinal slide rail; the third transmission belt is arranged on the third driving wheel and the third driven wheel.
The third sliding seats are in a groove shape, at least four third sliding seats are arranged, wherein half of the third sliding seats are respectively buckled at two ends of the first longitudinal sliding rail, and the other half of the third sliding seats are respectively buckled at two ends of the second longitudinal sliding rail; the third sliding seat can slide on the first longitudinal sliding rail and the second longitudinal sliding rail.
The first centering rod is in a rod shape, and two ends of the first centering rod are respectively fixedly arranged on the third sliding seats on the first longitudinal sliding rail and the second longitudinal sliding rail; the first centering rods are provided with a plurality of first centering rods, the first centering rods are correspondingly arranged on the third sliding seats at the same end respectively, and the first centering rods are parallel to each other.
The third sliding seats at two end sides on the first longitudinal slide rail are respectively connected with a third transmission belt at the upper side of the third driving wheel and a third transmission belt at the lower side of the third driving wheel through a first connecting plate.
The auxiliary platform is plate-shaped, a rectangular through hole is formed in the center of the auxiliary platform, the size of the rectangular through hole is larger than the projection size of the lifter, and the lifter can be inserted into the rectangular through hole to be flush with the auxiliary platform after being lifted.
Preferably, the transverse centering portion includes a first transverse slide rail, a second transverse slide rail, a fourth motor, a fourth transmission belt, a fourth slide seat and a second centering rod, the first transverse slide rail and the second transverse slide rail are both disposed on the first longitudinal slide rail, the fourth motor is disposed on the first transverse slide rail, the fourth transmission belt is disposed on the fourth motor, the fourth slide seat is disposed on the fourth transmission belt, and the second centering rod is disposed on the fourth slide seat.
The first transverse slide rail is horizontally and fixedly arranged at one end of the first longitudinal slide rail, and the second transverse slide rail is horizontally and fixedly arranged at the other end of the first longitudinal slide rail; the fourth motor is fixedly arranged on the side wall of one end of the first transverse sliding rail through a second fixing seat, the fourth motor is a pneumatic motor, and the second fixing seat is groove-shaped.
A fourth driving wheel is fixedly connected to the fourth motor rotating shaft, the fourth driving wheel is located in the second fixing seat groove, and a fourth driven wheel is arranged on the side wall of the other end of the first transverse sliding rail; the fourth transmission belt is arranged on the fourth driving wheel and the fourth driven wheel.
The fourth sliding seat is in a groove shape and provided with a plurality of grooves, wherein half of the fourth sliding seats are respectively buckled at two ends of the first transverse sliding rail, the other half of the fourth sliding seats are respectively buckled at two ends of the second transverse sliding rail, and the fourth sliding seat can slide on the first transverse sliding rail and the second transverse sliding rail.
The second centering rod is rod-shaped, and two ends of the second centering rod are respectively fixedly arranged on the fourth sliding seats on the first transverse sliding rail and the second transverse sliding rail; the second centering rods are provided with a plurality of second centering rods, the second centering rods are correspondingly arranged on the fourth sliding seats at the same end respectively, and the second centering rods are parallel to each other.
And the fourth sliding seats at the two ends of the first transverse sliding rail are respectively connected with a third transmission belt on the upper side of the fourth driving wheel and a third transmission belt on the lower side of the fourth driving wheel through a second connecting plate.
Preferably, the storehouse door spout is the dovetail groove form, the storehouse door spout is provided with the multistage, the storehouse door spout evenly sets up two that are parallel to each other on the top end bracing piece, and be parallel to each other between the storehouse door spout.
The storehouse door slide rail is in a dovetail block shape, the storehouse door slide rails are provided with four, the storehouse door slide rails are correspondingly embedded in the storehouse door slide grooves one by one, and the storehouse door slide rails are matched with the storehouse door slide grooves.
The warehouse door plate is rectangular and is provided with two doors, and the warehouse door plates are respectively and correspondingly fixedly arranged on the warehouse door sliding rails at two ends; the warehouse door power part comprises a rack, a gear and a servo motor, the rack is arranged on the warehouse door plate, the servo motor is arranged on the top end supporting rod, and the gear is arranged on the servo motor; the rack is provided with a plurality of racks, the racks are fixedly arranged on the lower surface of the warehouse door plate one by one correspondingly, and the racks are parallel to the warehouse door slide rail; the servo motors are arranged in a plurality, and are fixedly arranged on the top end supporting rod below the rack one by one correspondingly; the gear setting quantity is the same as the servo motor quantity, the gears are correspondingly arranged on the servo motor rotating shaft one by one, and the gears are meshed with the racks.
The invention at least comprises the following beneficial effects:
1) the unmanned aerial vehicle automatic charging hangar has high automation degree, is safe and reliable, can obviously reduce the labor intensity of workers, obviously reduce the labor input and the operation cost, and is suitable for large-area popularization and use;
2) the automatic charging hangar of the unmanned aerial vehicle is provided with the loading and unloading manipulator, the loading and unloading manipulator comprises a support upright post, a first sliding piece, a second sliding piece and a mechanical arm, the first sliding piece can realize longitudinal automatic positioning, the second sliding piece can realize transverse automatic positioning, the mechanical arm can realize vertical automatic positioning, the mechanical arm has a visual positioning function, the position of a battery of the unmanned aerial vehicle can be automatically identified, and the battery of the unmanned aerial vehicle can be automatically loaded and unloaded;
3) the unmanned aerial vehicle automatic charging hangar is provided with the centering part, the centering part comprises a longitudinal centering part and a transverse centering part, the longitudinal centering part can automatically stop the unmanned aerial vehicle to the longitudinal center of the auxiliary platform, and the transverse centering part can automatically stop the unmanned aerial vehicle to the transverse center of the auxiliary platform, namely, the unmanned aerial vehicle is completely stopped on the lift platform.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a right perspective view of a three-dimensional structure of an unmanned aerial vehicle automatic charging hangar of the present invention;
fig. 2 is a left perspective view of a three-dimensional structure of an unmanned aerial vehicle automatic charging hangar of the present invention;
fig. 3 is a perspective structural view of an end view of the automatic unmanned aerial vehicle charging hangar according to the present invention;
fig. 4 is a rear side view angle three-dimensional structure diagram of the automatic charging hangar of the unmanned aerial vehicle of the invention;
fig. 5 is a partial enlarged view of a in fig. 1 of the automatic unmanned aerial vehicle charging hangar of the present invention;
fig. 6 is a partial enlarged view of B in fig. 2 of the automatic unmanned aerial vehicle charger hangar according to the present invention.
Wherein: 1-a support column, 2-a support fixing rod, 3-a bottom end support rod, 4-a top end support rod, 5-a vertical hinged door, 6-a lifter, 7-a battery charging table, 8-a support column, 9-a first chute, 10-a first slide rail, 11-a first motor, 12-a first transmission belt, 13-a first sliding seat, 14-a second chute, 16-a second motor, 18-a second sliding seat, 19-an arm seat, 21-a loading and unloading hand, 22-a first longitudinal slide rail, 23-a second longitudinal slide rail, 24-a third motor, 25-a third transmission belt, 26-a third sliding seat, 27-a first centering rod, 28-an auxiliary platform, 29-a first transverse slide rail, 31-a fourth motor, 34-a second centering rod, 37-a warehouse door plate, 38-a first connecting plate, 39-a second connecting plate, 40-an unmanned aerial vehicle, 41-an elevator platform, 42-a first fixed seat and 43-a third driving wheel.
Detailed Description
Technical solutions of the present invention will be described in detail below by way of embodiments with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto.
The term "and/or" herein is merely an association describing an associated object, meaning that three relationships may exist, e.g., a and/or B, may mean: a exists alone, B exists alone, and A and B exist at the same time, and the term "/and" is used herein to describe another association object relationship, which means that two relationships may exist, for example, A/and B, may mean: a alone, and both a and B alone, and further, the character "/" in this document generally means that the former and latter associated objects are in an "or" relationship.
According to fig. 1-6, an automatic unmanned aerial vehicle charger hangar comprises a hangar shell, a battery replacing part, a middle part and a hangar door part, wherein the battery replacing part, the middle part and the hangar door part are all arranged on the hangar shell.
The hangar shell includes bracing piece, support column 1, support dead lever 2 and closed shell, support column 1 with support dead lever 2 all sets up on the bracing piece, closed shell sets up the bracing piece with on the support column 1.
The support rods comprise bottom support rods 3 and top support rods 4, the number of the bottom support rods 3 is four, and the bottom support rods 3 are fixedly connected end to form a rectangle. The support column 1 is provided with four, and the support column 1 is uniformly and vertically fixedly arranged on the bottom end support rod 3. The number of the top end support rods 4 is four, the top end support rods 4 are fixedly connected end to form a rectangle, and the top end support rods 4 are fixedly arranged on the support columns 1. The number of the supporting and fixing rods 2 is three, and the three supporting and fixing rods 2 are fixedly arranged on the bottom end supporting rod 3.
Further, the bracing piece the support column 1 with support dead lever 2 is the aluminium alloy, the bracing piece the support column 1 with support dead lever 2 interconnect and all use the angle keyway to build and form, make unmanned aerial vehicle automatic charging hangar quality is light, and is pleasing to the eye, can adapt to work under the open environment of complicated outside, compares the cost and reduces by a wide margin than other unmanned aerial vehicle hangar welding skeletons, and it is more convenient to transport.
Airtight shell includes peripheral board and peaceful opening door 5, peripheral board sets up the bracing piece with on the support column 1, vertical hinged door 5 sets up on the support column 1.
The peripheral plate is provided with four pieces, and the peripheral plate is fixedly arranged on the four bottom end support rods 3 and three side surfaces formed by the four support columns 1. The vertical hinged door 5 is fixedly arranged on one side face formed by the four support columns 1. Airtight shell with the cooperation of storehouse door portion can with the automatic charging hangar of unmanned aerial vehicle is inside airtight to waterproof, prevent wind and dustproof, provide the safety environment for unmanned aerial vehicle is automatic to charge.
The battery replacing part comprises a lifter 6 and a battery loading and unloading part, and the lifter 6 and the battery loading and unloading part are both arranged on the supporting and fixing rod 2. The lifter 6 is a scissor fork lifter, and the lifter 6 is fixedly arranged on the supporting and fixing rod 2.
The battery loading and unloading part comprises a battery charging stand 7 and a loading and unloading manipulator, wherein the battery charging stand 7 and the loading and unloading manipulator are both arranged on the supporting and fixing rod 2.
The inside lithium electricity core that is provided with of battery charging platform 7, lithium electricity core can be for the unmanned aerial vehicle battery to charge, moreover battery charging platform 7 is provided with the power cord, external power source can be connected to the power cord and the lithium electricity core charges.
The loading and unloading manipulator comprises a support upright post 8, a first sliding part, a second sliding part and a mechanical arm, wherein the first sliding part is arranged on the support upright post 8, the second sliding part is arranged on the first sliding part, and the mechanical arm is arranged on the second sliding part.
The supporting upright post 8 is columnar, the supporting upright post 8 is vertically and fixedly arranged on the supporting and fixing rod 2, and the supporting upright post 8 is positioned at one corner of the lifter 6. The first sliding part comprises a first sliding groove 9, a first sliding rail 10, a first motor 11, a first transmission belt 12 and a first sliding seat 13, the first sliding groove 9 is arranged on the supporting upright post 8, the first sliding rail 10 and the first motor 11 are arranged on the first sliding groove 9, the first transmission belt 12 is arranged on the first motor 11, and the first sliding seat 13 is arranged on the first transmission belt 12.
First spout 9 is the U type slot form, first spout 9 length is greater than lift platform 41 length, first spout 9 is followed the vertical level of automatic charging hangar of unmanned aerial vehicle is fixed to be set up on the support post 8. Specifically, the first sliding groove 9 is a U-groove aluminum profile. A first drag chain groove is arranged outside the first sliding groove 9, a first drag chain is arranged in the first drag chain groove, and the first drag chain air supply pipe is used for wiring.
The first motor 11 is fixedly arranged on a side wall of one end of the first chute 9, and further, the first motor 11 is a pneumatic motor. A first driving wheel is arranged at one end of the first chute 9 and is fixedly connected with a rotating shaft of the first motor 11. The other end in the first chute 9 is provided with a first driven wheel. The first transmission belt 12 is provided on the first driving pulley and the first driven pulley.
The first slide rail 10 is generally plate-shaped, one end of the first slide rail 10 is fixedly disposed at one end of the first sliding chute 9, and the first slide rail 10 is parallel to the first sliding chute 9.
The first sliding seat 13 is groove-shaped, the bottom surface of the first sliding seat 13 is fixedly arranged on the first transmission belt 12, and the first sliding seat 13 is buckled outside the first sliding rail 10, so that the first sliding seat 13 can move relatively along the first sliding rail 10.
Can make first drive belt 12 rotate around first action wheel and first driven wheel through first action wheel when first motor 11 rotates, and then drive first sliding seat 13 and follow first slide rail 10 slides, finally makes the second slider follow unmanned aerial vehicle automatic charging hangar longitudinal sliding realizes longitudinal positioning.
The second sliding member includes a second sliding chute 14, a second sliding rail, a second motor 16, a second transmission belt and a second sliding seat 18, the second sliding chute 14 is disposed on the first sliding seat 13, the second sliding rail and the second motor 16 are both disposed on the second sliding chute 14, the second transmission belt is disposed on the second motor 16, and the second sliding seat 18 is disposed on the second transmission belt.
Second spout 14 is the U type slot form, second spout 14 length is greater than lift platform 41 width, second spout 14 is followed the horizontal level of automatic charger storehouse of unmanned aerial vehicle is fixed to be set up on the first sliding seat 13. Specifically, the second sliding groove 14 is a U-groove aluminum profile. A second drag chain groove is arranged outside the second sliding groove 14, a second drag chain is arranged in the second drag chain groove, and the second drag chain gas supply pipe is used for wiring.
The second motor 16 is fixedly disposed on a side wall of one end of the second chute 14, and further, the second motor 16 is a pneumatic motor. A second driving wheel is arranged at one end of the second chute 14, and the second driving wheel is fixedly connected with a rotating shaft of the second motor 16. A second driven wheel is arranged at the other end in the second sliding chute 14. The second transmission belt is arranged on the second driving wheel and the second driven wheel.
The second slide rail has the same structure as the first slide rail 10, one end of the second slide rail is fixedly disposed at one end of the second sliding groove 14, and the second slide rail is parallel to the second sliding groove 14.
The second sliding seat 18 has the same structure as the first sliding seat 13, the bottom surface of the second sliding seat 18 is fixedly arranged on the second transmission belt, and the second sliding seat 18 is buckled outside the second sliding rail, so that the second sliding seat 18 can move relatively along the second sliding rail.
When second motor 16 rotates, can make the second drive belt rotate around second action wheel and second driven wheel through the second action wheel, and then drive second sliding seat 18 and follow the second slide rail slides, finally makes the manipulator follow automatic charging hangar lateral sliding of unmanned aerial vehicle realizes lateral positioning.
The mechanical arm comprises an arm seat 19, a motor, a screw rod, a spline and a loading and unloading hand 21, wherein the arm seat 19 is arranged on the second sliding seat 18, the motor is arranged on the arm seat 19, the screw rod is arranged on the motor, the spline is arranged on the screw rod, and the loading and unloading hand 21 is arranged on the spline.
The arm seat 19 is right-angled, a right-angled edge of the arm seat 19 is fixedly arranged on the second sliding seat 18, and the other right-angled edge of the arm seat 19 is groove-shaped. The motor is vertically arranged at the folded angle of the arm seat 19, the screw rod is fixedly connected with the rotating shaft of the motor, and the screw rod is positioned in another right-angle side groove of the arm seat 19.
The spline is sleeved on the screw rod, and the spline is matched with the screw rod. The vertical setting of loading and unloading hand 21 is in on the spline, loading and unloading hand 21 has the visual positioning function, can automatic identification unmanned aerial vehicle battery position to can realize auto-control handling to the unmanned aerial vehicle battery. After the bayonet socket of loading and unloading hand 21 on to the unmanned aerial vehicle battery loosens, the direct clamp of loading and unloading hand 21 is got the insufficient voltage battery and is placed the battery and charge on the platform 7 that charges to the insufficient voltage battery. The handler 21 then picks up the full charge battery from the battery charging stand 7 to the unmanned aerial vehicle battery placement position for automatic installation.
The centering part comprises a longitudinal centering part and a transverse centering part, the longitudinal centering part is arranged on the supporting upright rod, and the transverse centering part is arranged on the longitudinal centering part.
The longitudinal centering portion includes a first longitudinal slide rail 22, a second longitudinal slide rail 23, a third motor 24, a third transmission belt 25, a third sliding seat 26, a first centering rod 27 and an auxiliary platform 28, the first longitudinal slide rail 22 and the second longitudinal slide rail 23 are both disposed on the support column 8, the third motor 24 is disposed on the first longitudinal slide rail 22, the third transmission belt 25 is disposed on the third motor 24, the third sliding seat 26 is disposed on the third transmission belt 25, the first centering rod 27 is disposed on the third sliding seat 26, and the auxiliary platform 28 is disposed on the second longitudinal slide rail 23.
The first longitudinal slide rail 22 is horizontally and fixedly arranged on the two support columns 8 on one longitudinal side, and the second longitudinal slide rail 23 is horizontally and fixedly arranged on the two support columns 8 on the other longitudinal side.
The third motor 24 is fixedly disposed on a side wall of one end of the first longitudinal sliding rail 22 through a first fixing seat 42, and the third motor 24 is a pneumatic motor. Specifically, the first fixing seat 42 is a groove shape, the notch of the first fixing seat 42 is fixedly arranged on the side edge of the first longitudinal sliding rail 22, and the third motor 24 is fixedly arranged on the groove bottom of the first fixing seat 42.
A third driving wheel 43 is fixedly connected to the rotating shaft of the third motor 24, and the third driving wheel 43 is located in the groove of the first fixing seat 42. And a third driven wheel is arranged on the side wall of the other end of the first longitudinal slide rail 22. The third belt 25 is provided on the third driving pulley 43 and the third driven pulley.
The third sliding seats 26 are groove-shaped, four third sliding seats 26 are provided, two of the third sliding seats 26 are respectively buckled at two ends of the first longitudinal sliding rail 22, and the other two third sliding seats 26 are respectively buckled at two ends of the second longitudinal sliding rail 23. The third sliding seat 26 can slide on the first longitudinal sliding rail 22 and the second longitudinal sliding rail 23.
The first centering rod 27 is rod-shaped, and two ends of the first centering rod 27 are respectively and fixedly arranged on the third sliding seats 26 on the first longitudinal sliding rail 22 and the second longitudinal sliding rail 23. Two first centering rods 27 are provided, two first centering rods 27 are correspondingly provided on the third sliding seat 26 at the same end, and the two first centering rods 27 are parallel to each other.
The two third sliding seats 26 on the first longitudinal sliding rail 22 are respectively connected with the third driving belt 25 on the upper side of the third driving wheel 43 and the third driving belt 25 on the lower side of the third driving wheel 43 through the first connecting plate 38.
When the third motor 24 rotates in the forward direction, the third driving belt 25 rotates around the third driving wheel 43 and the third driven wheel in the forward direction, and at this time, the third driving belt 25 slides the third sliding seats 26 at the two ends simultaneously, so that the two first centering rods 27 move inwards at the same time, that is, the vertical centering of the unmanned aerial vehicle 40 can be realized. When the third motor 24 rotates reversely, the third transmission belt 25 will rotate reversely around the third driving wheel 43 and the third driven wheel, and at this time, the third transmission belt 25 will pull the third sliding seats 26 at both ends to slide outwards at the same time, so that the two first centering rods 27 move outwards at the same time.
Auxiliary platform 28 is platelike, the 28 centre of a circle of auxiliary platform is provided with the rectangle through hole, rectangle through hole size is greater than lift platform 41 size, lift 6 can go deep into lift platform 41 after rising the rectangle through hole in with auxiliary platform 28 flushes to unmanned aerial vehicle 40 descends on lift platform 41.
The transverse centering portion comprises a first transverse sliding rail 29, a second transverse sliding rail, a fourth motor 31, a fourth transmission belt, a fourth sliding seat and a second centering rod 34, the first transverse sliding rail 29 and the second transverse sliding rail are arranged on the first longitudinal sliding rail 22, the fourth motor 31 is arranged on the first transverse sliding rail 29, the fourth transmission belt is arranged on the fourth motor 31, the fourth sliding seat is arranged on the fourth transmission belt, and the second centering rod 34 is arranged on the fourth sliding seat.
The first transverse slide rail 29 is horizontally and fixedly arranged at one end of the first longitudinal slide rail 22, and the second transverse slide rail is horizontally and fixedly arranged at the other end of the first longitudinal slide rail 22.
The fourth motor 31 is fixedly arranged on the side wall of one end of the first transverse sliding rail 29 through a second fixed seat, and the fourth motor 31 is a pneumatic motor. Specifically, the second fixing seat is in a groove shape, a notch of the second fixing seat is fixedly arranged on the side edge of the first transverse sliding rail 29, and the fourth motor 31 is fixedly arranged on the groove bottom of the second fixing seat.
A fourth driving wheel is fixedly connected to the rotating shaft of the fourth motor 31, and the fourth driving wheel is located in the second fixing base groove. A fourth driven wheel is arranged on the side wall of the other end of the first transverse sliding rail 29. The fourth transmission belt is arranged on the fourth driving wheel and the fourth driven wheel.
The fourth sliding seats are groove-shaped and four, two of the fourth sliding seats are respectively buckled at two ends of the first transverse sliding rail 29, and the other two fourth sliding seats are respectively buckled at two ends of the second transverse sliding rail. The fourth sliding seat can slide on the first transverse slide 29 and the second transverse slide.
The second centering rod 34 is rod-shaped, and two ends of the second centering rod 34 are respectively and fixedly arranged on the fourth sliding seats on the first transverse sliding rail 29 and the second transverse sliding rail. Two second centering rods 34 are provided, the two second centering rods 34 are respectively and correspondingly arranged on the fourth sliding seats at the same end, and the two second centering rods 34 are parallel to each other.
The two fourth sliding seats on the first transverse sliding rail 29 are respectively connected with the third driving belt 25 on the upper side of the fourth driving wheel and the third driving belt 25 on the lower side of the fourth driving wheel through a second connecting plate 39.
When fourth motor 31 forward rotation the fourth drive belt will center on fourth action wheel and fourth follow driving wheel forward rotation, this moment the fourth drive belt will stimulate both ends the fourth sliding seat slides simultaneously in the same phase, makes two second centering rods 34 inwards remove simultaneously, can realize the horizontal centering of unmanned aerial vehicle 40 promptly. When the fourth motor 31 rotates reversely, the fourth transmission belt will rotate reversely around the fourth driving wheel and the fourth driven wheel, and at this time, the fourth transmission belt will pull the fourth sliding seats at both ends to slide outwards at the same time, so that the two second centering rods 34 move outwards at the same time.
Storehouse door portion is including storehouse door spout, storehouse door slide rail, storehouse door board 37 and storehouse door power spare, storehouse door spout with storehouse door power spare all sets up on the top end support bar 4, storehouse door slide rail sets up on the storehouse door spout, storehouse door board 37 sets up on the storehouse door slide rail.
The storehouse door spout is the dovetail groove form, the storehouse door spout is provided with the four sections, the storehouse door spout evenly sets up two that are parallel to each other on the top bracing piece 4, and be parallel to each other between the storehouse door spout.
The storehouse door slide rail is in a dovetail block shape, the storehouse door slide rails are provided with four, the storehouse door slide rails are correspondingly embedded in the storehouse door slide grooves one by one, and the storehouse door slide rails are matched with the storehouse door slide grooves.
The warehouse door plate 37 is rectangular, the warehouse door plate 37 is provided with two leaves, and the two leaves of the warehouse door plate 37 are respectively and correspondingly arranged on the warehouse door sliding rails at the two ends. Can will when two storehouse door plant 37 slide to the inboard through storehouse door slide rail along storehouse door spout unmanned aerial vehicle automatic charging machine storehouse top surface seals, can play waterproof, prevent wind and dustproof purpose, provides safe environment for unmanned aerial vehicle automatic charging.
The storehouse door power part comprises a rack, a gear and a servo motor, the rack is arranged on the storehouse door plate 37, the servo motor is arranged on the top end support rod 4, and the gear is arranged on the servo motor.
The two racks are arranged, the racks are fixedly arranged on the lower surface of the warehouse door plate 37 one by one correspondingly, and the racks are parallel to the warehouse door sliding rail. Two servo motors are arranged, and the servo motors are fixedly arranged on the top end supporting rod 4 below the rack one by one correspondingly. The gear is provided with two, the gear corresponds the setting one by one in the servo motor pivot, the gear with the rack toothing.
The working principle of the automatic charging hangar of the unmanned aerial vehicle is as follows:
1) when the electric quantity of the unmanned aerial vehicle 40 is insufficient for executing the task, automatically returning to the intelligent hangar or searching for the adjacent intelligent hangar to replace the battery;
2) after the unmanned aerial vehicle 40 reaches the position near the automatic charging hangar of the unmanned aerial vehicle, a flight control system gives an instruction to control a servo motor to start an opening hangar door plate 37, and meanwhile, a lifting platform 41 is lifted to be flush with an auxiliary platform 28 to form a top parking apron together;
3) after landing is finished, the power of the unmanned aerial vehicle 40 stops, the centering part moves the unmanned aerial vehicle 40 to the lift platform 41 from the initial landing point, and a signal is sent to the lift after landing is finished;
4) the elevator platform 41 and the unmanned aerial vehicle 40 are descended to the bottom together, and signals are sent to the battery replacing part and the warehouse door part after the elevator platform and the unmanned aerial vehicle are in place;
5) the servo motor is started to close the garage door panel 37; meanwhile, the handling hand 21 takes the power-lack battery off the unmanned aerial vehicle 40, puts the power-lack battery on the battery charging stand 7 for charging, and then installs other fully charged batteries on the battery charging stand 7 on the unmanned aerial vehicle 40; returning to the original position after the installation is finished and giving signals to the warehouse door part and the lifter 6;
6) the garage door panel 37 is opened, the lift platform 41 is lifted, the unmanned aerial vehicle 40 is lifted to the landing position, and a signal is sent to the lift stop platform and the unmanned aerial vehicle 40 after the landing is finished.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides an automatic hangar that charges of unmanned aerial vehicle which characterized in that includes:
the hangar shell comprises a supporting rod, a supporting column (1), a supporting fixing rod (2) and a closed shell, wherein the supporting column (1) and the supporting fixing rod (2) are arranged on the supporting rod, and the closed shell is arranged on the supporting rod and the supporting column (1);
the battery replacing part is arranged on the machine base shell and comprises a lifter (6) and a battery loading and unloading part, and the lifter (6) and the battery loading and unloading part are both arranged on the supporting and fixing rod (2);
the middle alignment part is arranged on the hangar shell and comprises a longitudinal middle alignment part and a transverse middle alignment part, the longitudinal middle alignment part is arranged on the supporting upright rod, and the transverse middle alignment part is arranged on the longitudinal middle alignment part;
the storehouse door part, storehouse door part sets up on the machine storehouse shell, storehouse door part is including storehouse door spout, storehouse door slide rail, storehouse door board (37) and storehouse door power part, storehouse door spout with storehouse door power part all sets up on the bracing piece, storehouse door slide rail sets up on the storehouse door spout, storehouse door board (37) set up on the storehouse door slide rail.
2. The unmanned aerial vehicle automatic charging hangar of claim 1, wherein the support rods comprise a bottom end support rod (3) and a top end support rod (4), the bottom end support rod (3) is provided with a plurality of support rods, and the bottom end support rods (3) are fixedly connected end to end; the supporting columns (1) are arranged in a plurality, and the supporting columns (1) are uniformly and vertically fixed on the bottom end supporting rod (3); the top end support rods (4) are arranged in a plurality of rows, the top end support rods (4) are fixedly connected end to end, and the top end support rods (4) are fixedly arranged on the support columns (1); the supporting and fixing rods (2) are provided with a plurality of supporting and fixing rods, and the supporting and fixing rods (2) are fixedly arranged on the bottom end supporting rod (3);
the airtight shell comprises an outer surrounding plate and a flat-open door (5), the outer surrounding plate is arranged on the supporting rod and the supporting column (1), and the flat-open door (5) is arranged on the supporting column (1); the peripheral plate is provided with a plurality of pieces and is fixedly arranged on the side surface formed by the bottom end support rod (3) and the support column (1); the side hung door (5) is fixedly arranged on one side face formed by the supporting columns (1).
3. The unmanned aerial vehicle automatic charging hangar of claim 1 or 2, characterized in that the lift (6) is a scissor lift, the lift (6) is fixedly arranged on the supporting and fixing rod (2); the battery loading and unloading part comprises a battery charging stand (7) and an unloading mechanical arm, and the battery charging stand (7) and the unloading mechanical arm are both arranged on the supporting and fixing rod (2); and a lithium battery cell is arranged in the battery charging table (7).
4. The unmanned aerial vehicle automatic charger hangar of claim 3, wherein the loading and unloading manipulator comprises a support column (8), a first slider, a second slider and a mechanical arm, the first slider is disposed on the support column (8), the second slider is disposed on the first slider, and the mechanical arm is disposed on the second slider; the supporting upright post (8) is columnar, and the supporting upright post (8) is vertically and fixedly arranged on the supporting fixed rod (2); the first sliding part comprises a first sliding groove (9), a first sliding rail (10), a first motor (11), a first transmission belt (12) and a first sliding seat (13), the first sliding groove (9) is arranged on the supporting upright post (8), the first sliding rail (10) and the first motor (11) are arranged on the first sliding groove (9), the first transmission belt (12) is arranged on the first motor (11), and the first sliding seat (13) is arranged on the first transmission belt (12).
5. The unmanned aerial vehicle automatic charger garage of claim 4, wherein the first chute (9) is in a shape of a U-shaped groove, the length of the first chute (9) is greater than that of the lift platform (41), and the first chute (9) is horizontally and fixedly arranged on the support column (8) along the longitudinal direction of the unmanned aerial vehicle automatic charger garage;
the first motor (11) is fixedly arranged on the side wall of one end of the first chute (9), and the first motor (11) is a pneumatic motor; a first driving wheel is arranged at one end in the first sliding groove (9), the first driving wheel is fixedly connected with a rotating shaft of the first motor (11), and a first driven wheel is arranged at the other end in the first sliding groove (9); the first transmission belt (12) is arranged on the first driving wheel and the first driven wheel;
the first sliding rail (10) is generally plate-shaped, one end of the first sliding rail (10) is fixedly arranged at one end of the first sliding chute (9), and the first sliding rail (10) is parallel to the first sliding chute (9); the first sliding seat (13) is groove-shaped, the bottom surface of the first sliding seat (13) is fixedly arranged on the first transmission belt (12), and the first sliding seat (13) is buckled outside the first sliding rail (10), so that the first sliding seat (13) can move relatively along the first sliding rail (10).
6. The unmanned aerial vehicle automatic charging hangar of claim 4, wherein the second slide comprises a second chute (14), a second slide rail, a second motor (16), a second transmission belt and a second slide seat (18), the second chute (14) is disposed on the first slide seat (13), the second slide rail and the second motor (16) are both disposed on the second chute (14), the second transmission belt is disposed on the second motor (16), and the second slide seat (18) is disposed on the second transmission belt;
the second sliding groove (14) is in a U-shaped groove shape, the length of the second sliding groove (14) is larger than the width of the elevator platform (41), and the second sliding groove (14) is horizontally and fixedly arranged on the first sliding seat (13) along the transverse direction of the unmanned aerial vehicle automatic charger garage;
the second motor (16) is fixedly arranged on the side wall of one end of the second chute (14), and the second motor (16) is a pneumatic motor; a second driving wheel is arranged at one end in the second sliding chute (14), and the second driving wheel is fixedly connected with a rotating shaft of a second motor (16); a second driven wheel is arranged at the other end in the second sliding chute (14); the second transmission belt is arranged on the second driving wheel and the second driven wheel;
the second slide rail has the same structure as the first slide rail (10), one end of the second slide rail is fixedly arranged at one end of the second sliding chute (14), and the second slide rail is parallel to the second sliding chute (14); the second sliding seat (18) has the same structure as the first sliding seat (13), the bottom surface of the second sliding seat (18) is fixedly arranged on the second transmission belt, and the second sliding seat (18) is buckled outside the second sliding rail, so that the second sliding seat (18) can move relatively along the second sliding rail.
7. The unmanned aerial vehicle automatic charger hangar of claim 6, wherein the robotic arm comprises an arm base (19), a motor, a lead screw, a spline, and a loading and unloading hand (21), the arm base (19) is disposed on the second sliding base (18), the motor is disposed on the arm base (19), the lead screw is disposed on the motor, the spline is disposed on the lead screw, and the loading and unloading hand (21) is disposed on the spline;
the arm seat (19) is right-angled, a right-angled edge of the arm seat (19) is fixedly arranged on the second sliding seat (18), and the other right-angled edge of the arm seat (19) is groove-shaped; the motor is vertically arranged at a folding angle of the arm seat (19), the screw rod is fixedly connected with a rotating shaft of the motor, and the screw rod is positioned in another right-angle side groove of the arm seat (19); the spline is sleeved on the screw rod, and the spline is matched with the screw rod; the vertical setting of loading and unloading hand (21) is in on the spline, loading and unloading hand (21) have the visual positioning function, can automatic identification unmanned aerial vehicle battery position to can realize auto-control handling to the unmanned aerial vehicle battery.
8. The unmanned aerial vehicle automatic charging hangar of claim 6, wherein the longitudinal centering portion comprises a first longitudinal slide rail (22), a second longitudinal slide rail (23), a third motor (24), a third drive belt (25), a third slide seat (26), a first centering bar (27), and an auxiliary platform (28), the first longitudinal sliding rail (22) and the second longitudinal sliding rail (23) are both arranged on the supporting upright (8), the third motor (24) is arranged on the first longitudinal sliding rail (22), the third belt (25) is arranged on the third motor (24), the third sliding seat (26) is arranged on the third belt (25), the first centring lever (27) is arranged on the third sliding seat (26), the auxiliary platform (28) is arranged on the second longitudinal slide rail (23);
the first longitudinal slide rail (22) is horizontally and fixedly arranged on the supporting upright (8) at one longitudinal side, and the second longitudinal slide rail (23) is horizontally and fixedly arranged on the supporting upright (8) at the other longitudinal side; the third motor (24) is fixedly arranged on the side wall of one end of the first longitudinal sliding rail (22) through a first fixing seat (42), and the third motor (24) is a pneumatic motor;
a third driving wheel (43) is fixedly connected to the rotating shaft of the third motor (24), and the third driving wheel (43) is positioned in the groove of the first fixing seat (42); a third driven wheel is arranged on the side wall of the other end of the first longitudinal slide rail (22); the third transmission belt (25) is arranged on the third driving wheel (43) and the third driven wheel;
the third sliding seats (26) are groove-shaped, at least four third sliding seats (26) are arranged, wherein half of the third sliding seats (26) are respectively buckled at two ends of the first longitudinal sliding rail (22), and the other half of the third sliding seats (26) are respectively buckled at two ends of the second longitudinal sliding rail (23); the third sliding seat (26) is slidable on the first longitudinal sliding rail (22) and the second longitudinal sliding rail (23);
the first centering rod (27) is in a rod shape, and two ends of the first centering rod (27) are respectively and fixedly arranged on the third sliding seats (26) on the first longitudinal sliding rail (22) and the second longitudinal sliding rail (23); the first centering rods (27) are provided with a plurality of first centering rods (27), the first centering rods (27) are respectively and correspondingly arranged on the third sliding seats (26) at the same end, and the first centering rods (27) are mutually parallel;
the third sliding seats (26) at two ends of the first longitudinal sliding rail (22) are respectively connected with a third driving belt (25) at the upper side of the third driving wheel (43) and a third driving belt (25) at the lower side of the third driving wheel (43) through a first connecting plate (38);
the auxiliary platform (28) is plate-shaped, a rectangular through hole is formed in the circle center of the auxiliary platform (28), the size of the rectangular through hole is larger than that of the elevator platform (41), and the elevator platform (41) can be deeply inserted into the rectangular through hole and flush with the auxiliary platform (28) after the elevator (6) is lifted.
9. The unmanned aerial vehicle automatic charging hangar of claim 8, wherein the transverse centering portion comprises a first transverse slide (29), a second transverse slide, a fourth motor (31), a fourth drive belt, a fourth slide seat and a second centering bar (34), the first transverse slide (29) and the second transverse slide are disposed on the first longitudinal slide (22), the fourth motor (31) is disposed on the first transverse slide (29), the fourth drive belt is disposed on the fourth motor (31), the fourth slide seat is disposed on the fourth drive belt, and the second centering bar (34) is disposed on the fourth slide seat;
the first transverse slide rail (29) is horizontally and fixedly arranged at one end of the first longitudinal slide rail (22), and the second transverse slide rail is horizontally and fixedly arranged at the other end of the first longitudinal slide rail (22); the fourth motor (31) is fixedly arranged on the side wall of one end of the first transverse sliding rail (29) through a second fixed seat, the fourth motor (31) is a pneumatic motor, and the second fixed seat is groove-shaped;
a fourth driving wheel is fixedly connected to a rotating shaft of the fourth motor (31), the fourth driving wheel is located in the second fixed seat groove, and a fourth driven wheel is arranged on the side wall of the other end of the first transverse sliding rail (29); the fourth transmission belt is arranged on the fourth driving wheel and the fourth driven wheel;
the fourth sliding seats are in a groove shape and are provided with a plurality of grooves, wherein half of the fourth sliding seats are respectively buckled at two ends of the first transverse sliding rail (29), the other half of the fourth sliding seats are respectively buckled at two ends of the second transverse sliding rail, and the fourth sliding seats can slide on the first transverse sliding rail (29) and the second transverse sliding rail;
the second centering rod (34) is rod-shaped, and two ends of the second centering rod (34) are respectively and fixedly arranged on the fourth sliding seats on the first transverse sliding rail (29) and the second transverse sliding rail; a plurality of second centering rods (34) are arranged, the second centering rods (34) are respectively and correspondingly arranged on the fourth sliding seats at the same end, and the second centering rods (34) are mutually parallel;
and the fourth sliding seats at the two ends of the first transverse sliding rail (29) are respectively connected with a third transmission belt (25) on the upper side of the fourth driving wheel and a third transmission belt (25) on the lower side of the fourth driving wheel through a second connecting plate (39).
10. The unmanned aerial vehicle automatic charging hangar of claim 2, wherein the hangar door sliding chutes are in a shape of dovetail grooves, the hangar door sliding chutes are provided with multiple sections, the hangar door sliding chutes are uniformly arranged on the two top end supporting rods (4) which are parallel to each other, and the hangar door sliding chutes are parallel to each other;
the warehouse door sliding rails are in a dovetail block shape and are provided with four warehouse door sliding rails, the warehouse door sliding rails are correspondingly embedded in the warehouse door sliding grooves one by one, and the warehouse door sliding rails are matched with the warehouse door sliding grooves;
the garage door plate (37) is rectangular, two garage door plates (37) are arranged on the garage door plate, and the garage door plates (37) are respectively and fixedly arranged on the garage door sliding rails at two ends correspondingly; the warehouse door power part comprises a rack, a gear and a servo motor, the rack is arranged on the warehouse door plate (37), the servo motor is arranged on the top end support rod (4), and the gear is arranged on the servo motor; the rack is provided with a plurality of racks, the racks are fixedly arranged on the lower surface of the warehouse door plate (37) one by one correspondingly, and the racks are parallel to the warehouse door slide rail; the servo motors are arranged in a plurality, and are fixedly arranged on the top end supporting rod (4) below the rack one by one correspondingly; the gear setting quantity is the same as the servo motor quantity, the gears are correspondingly arranged on the servo motor rotating shaft one by one, and the gears are meshed with the racks.
CN201911358218.3A 2019-12-25 2019-12-25 Automatic charging hangar of unmanned aerial vehicle Pending CN110937127A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911358218.3A CN110937127A (en) 2019-12-25 2019-12-25 Automatic charging hangar of unmanned aerial vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911358218.3A CN110937127A (en) 2019-12-25 2019-12-25 Automatic charging hangar of unmanned aerial vehicle

Publications (1)

Publication Number Publication Date
CN110937127A true CN110937127A (en) 2020-03-31

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911358218.3A Pending CN110937127A (en) 2019-12-25 2019-12-25 Automatic charging hangar of unmanned aerial vehicle

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Country Link
CN (1) CN110937127A (en)

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CN113120252A (en) * 2021-05-21 2021-07-16 苏州臻迪智能科技有限公司 Unmanned aerial vehicle parking system and unmanned aerial vehicle parking method
CN113250516A (en) * 2021-06-11 2021-08-13 西安冰果智能航空科技有限公司 Movable unmanned aerial vehicle hangar
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DE102021120783A1 (en) 2021-08-10 2023-02-16 Hive Systems GmbH Hangar and arrangement for changing a battery from an aircraft
CN115743665A (en) * 2022-12-30 2023-03-07 蜂巢航宇科技（北京）有限公司 Unmanned aerial vehicle hangar with mechanical battery replacement function
CN115991296A (en) * 2023-03-17 2023-04-21 成都纵横大鹏无人机科技有限公司 Unmanned aerial vehicle hangar with foldable hangar door
WO2023124434A1 (en) * 2021-12-31 2023-07-06 蜂巢航宇科技（北京）有限公司 Multi-rotor dronebox

Cited By (13)

* Cited by examiner, † Cited by third party
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CN111547642A (en) * 2020-04-08 2020-08-18 哈尔滨兆禾机械设备技术开发有限公司 Aircraft lift platform with shock-absorbing function
CN111746815B (en) * 2020-06-22 2022-05-17 重庆寰土建筑装饰设计有限公司 Unmanned on duty on-site monitoring unmanned aerial vehicle's base that charges
CN111746815A (en) * 2020-06-22 2020-10-09 重庆寰土建筑装饰设计有限公司 Charging base and method for unmanned on-site monitoring unmanned aerial vehicle
CN112061412A (en) * 2020-08-11 2020-12-11 上海瀚沧科技有限公司 Unmanned aerial vehicle intelligence hangar suitable for multiple installation demand
CN113120252A (en) * 2021-05-21 2021-07-16 苏州臻迪智能科技有限公司 Unmanned aerial vehicle parking system and unmanned aerial vehicle parking method
CN113250516A (en) * 2021-06-11 2021-08-13 西安冰果智能航空科技有限公司 Movable unmanned aerial vehicle hangar
DE102021120783A1 (en) 2021-08-10 2023-02-16 Hive Systems GmbH Hangar and arrangement for changing a battery from an aircraft
CN113928560A (en) * 2021-10-21 2022-01-14 中煤航测遥感集团有限公司 Unmanned aerial vehicle platform for aerial photogrammetry and photography method
CN113928560B (en) * 2021-10-21 2024-02-27 中煤航测遥感集团有限公司 Unmanned aerial vehicle platform for aerial photogrammetry and shooting method
WO2023124434A1 (en) * 2021-12-31 2023-07-06 蜂巢航宇科技（北京）有限公司 Multi-rotor dronebox
CN115743665A (en) * 2022-12-30 2023-03-07 蜂巢航宇科技（北京）有限公司 Unmanned aerial vehicle hangar with mechanical battery replacement function
CN115743665B (en) * 2022-12-30 2023-08-08 蜂巢航宇科技（北京）有限公司 Unmanned aerial vehicle hangar of mechanical battery replacement
CN115991296A (en) * 2023-03-17 2023-04-21 成都纵横大鹏无人机科技有限公司 Unmanned aerial vehicle hangar with foldable hangar door

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