CN112144938A

CN112144938A - Unmanned aerial vehicle hangar

Info

Publication number: CN112144938A
Application number: CN201910568996.9A
Authority: CN
Inventors: 曹亚兵; 范晨亮; 那日汗
Original assignee: Shanghai Fuya Intelligent Technology Co ltd
Current assignee: Shanghai Fuya Intelligent Technology Co ltd
Priority date: 2019-06-27
Filing date: 2019-06-27
Publication date: 2020-12-29

Abstract

The invention belongs to the field of unmanned aerial vehicle equipment, and discloses an unmanned aerial vehicle hangar, which comprises a cabin body and further comprises: the storage platforms are arranged in the cabin body and used for parking the unmanned aerial vehicle; the following platform is arranged in the cabin body and can move to a landing point of the unmanned aerial vehicle; snatch mechanism, can move to trailing type platform and arbitrary one and store platform department for get unmanned aerial vehicle on the trailing type platform and put to storing the platform on. According to the invention, the plurality of storage platforms are arranged, so that the storage and parking of a plurality of unmanned aerial vehicles can be realized, and the continuous uninterrupted operation and the simultaneous operation of the plurality of unmanned aerial vehicles can be realized. And through the trailing type platform, can be according to unmanned aerial vehicle's the landing point automatic movement to its landing point department, realize tentatively parking (thick location promptly) to unmanned aerial vehicle, snatch the unmanned aerial vehicle on the trailing type platform to the preset position department of storing the platform through snatching the mechanism afterwards, realize parking unmanned aerial vehicle's accuracy, be favorable to unmanned aerial vehicle's storage, charge or trade the battery operation.

Description

Unmanned aerial vehicle hangar

Technical Field

The invention relates to the field of unmanned aerial vehicle equipment, in particular to an unmanned aerial vehicle hangar.

Background

An unmanned aircraft, abbreviated as "drone", and abbreviated in english as "UAV", is an unmanned aircraft that is operated by radio remote control devices and program control devices, or is operated autonomously, either completely or intermittently, by an onboard computer. Unmanned aerial vehicles can be classified into military and civil applications according to the application field. For military use, unmanned aerial vehicles divide into reconnaissance aircraft and target drone. In the civil aspect, the unmanned aerial vehicle is matched with the industry for application, and is really just needed by the unmanned aerial vehicle; at present, the unmanned aerial vehicle is applied to the fields of aerial photography, agriculture, plant protection, miniature self-timer, express transportation, disaster relief, wild animal observation, infectious disease monitoring, surveying and mapping, news reporting, power inspection, disaster relief, film and television shooting, romantic manufacturing and the like, the application of the unmanned aerial vehicle is greatly expanded, and developed countries actively expand industrial application and develop unmanned aerial vehicle technology.

The problem of continuation of the journey and charging in the unmanned aerial vehicle use of considering, can be equipped with the unmanned aerial vehicle hangar usually, current unmanned aerial vehicle hangar is the stand-alone hangar mostly, can only be used for charging, the storage of an unmanned aerial vehicle promptly, and an unmanned aerial vehicle's charge time is longer, can't be suitable for the occasion of continuous incessant operation. In addition, an unmanned aerial vehicle that the stand-alone hangar stored can only carry out an operation simultaneously, and when many unmanned aerial vehicles of needs were worked simultaneously, the stand-alone hangar can't satisfy above-mentioned requirement.

Disclosure of Invention

The invention aims to provide an unmanned aerial vehicle hangar which can realize parking and storage of a plurality of unmanned aerial vehicles and can realize continuous operation or simultaneous operation of a plurality of unmanned aerial vehicles.

In order to achieve the purpose, the invention adopts the following technical scheme:

an unmanned aerial vehicle hangar, includes the cabin body, still includes:

the storage platforms are arranged in the cabin body and used for parking the unmanned aerial vehicle;

the following platform is arranged in the cabin body and can move to a landing point of the unmanned aerial vehicle;

the grabbing mechanism can move to the following type platform and any one of the storage platforms and is used for taking and placing the unmanned aerial vehicle on the following type platform to the storage platforms.

Preferably, the following platform comprises a frame body, a first X-direction linear module and a first X-direction slide rail which are arranged on the frame body along the X direction, a support plate which is driven by the first X-direction linear module to slide along the first X-direction slide rail, a first Y-direction linear module which is fixedly arranged on the support plate, and a platform table top which is driven by the first Y-direction linear module to move along the Y direction.

Preferably, the grabbing mechanism comprises a moving platform, a manipulator driven by the moving platform and capable of moving in three directions of X, Y, Z, and a camera device mounted on the manipulator.

Preferably, the moving platform comprises a second Y-direction linear module, a second X-direction linear module driven by the second Y-direction linear module to move along the Y direction, and a Z-direction linear module driven by the second X-direction linear module to move, and the manipulator can be driven by the Z-direction linear module to move along the Z direction.

Preferably, the grabbing mechanism further comprises a rotating module, the rotating module is arranged on the Z-direction linear module and can be driven by the Z-direction linear module to move along the Z direction, and the manipulator is mounted on the rotating module and can be driven by the rotating module to rotate.

Preferably, still including set up in store the unmanned aerial vehicle fixed establishment of platform below, unmanned aerial vehicle fixed establishment including being fixed in store the mounting panel on the platform, set firmly in the first motor of mounting panel, by first motor drive is in opposite directions or two sets of holders of the back of the body removal, and is two sets of the holder is used for the centre gripping to be fixed unmanned aerial vehicle.

Preferably, the clamping member comprises clamping plates respectively arranged at two sides of the mounting plate, and the clamping plates penetrate through the storage platform.

Preferably, the clamping plate is provided with a V-shaped clamping opening, and the V-shaped clamping openings of the two clamping plates located on the same side of the mounting plate are arranged oppositely.

As preferred, unmanned aerial vehicle fixed establishment still include by first motor drive pivoted positive and negative lead screw, threaded connection in two nuts of positive and negative lead screw, the rigid coupling in the slider of nut, and locate the guide rail under the mounting panel, the slider for guide rail slidable, and every a set of is installed to the slider the holder.

Preferably, still include cloud platform fixed establishment, cloud platform fixed establishment including set firmly in the mounting bracket of storage platform below, the rigid coupling in the driving piece of mounting bracket, by the fixed block that the vertical direction removed is followed in the driving piece drive, the fixed block can pass the storage platform.

The invention has the beneficial effects that: through setting up a plurality of storage platforms, can realize many unmanned aerial vehicle's storage, parking, can realize many unmanned aerial vehicle continuous incessant operation and simultaneous operation simultaneously. And through the trailing type platform, can be according to unmanned aerial vehicle's the landing point automatic movement to its landing point department, realize tentatively parking (thick location promptly) to unmanned aerial vehicle, snatch the unmanned aerial vehicle on the trailing type platform to the preset position department of storing the platform through snatching the mechanism afterwards, realize parking unmanned aerial vehicle's accuracy, be favorable to unmanned aerial vehicle's storage, charge or trade the battery operation.

Drawings

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle hangar according to the present invention;

FIG. 2 is a schematic structural diagram of a follower platform according to the present invention;

FIG. 3 is a schematic structural view of a grasping mechanism according to the present invention;

fig. 4 is a schematic structural diagram of the fixing mechanism of the unmanned aerial vehicle according to the invention;

FIG. 5 is a schematic structural diagram of a storage platform according to the present invention;

fig. 6 is a schematic view of the assembly of the storage platform and the drone securing mechanism of the present invention;

fig. 7 is a schematic structural diagram of the holder fixing mechanism according to the present invention.

In the figure:

1. a cabin body; 11. ground feet;

2. a storage platform; 21. a rectangular hole; 22. an aperture;

3. a follow-up platform; 31. a frame body; 32. a first X-direction linear module; 33. a first X-direction slide rail; 34. a first Y-direction linear module; 35. a platform surface;

4. a grabbing mechanism; 41. a manipulator; 42. a camera device; 43. a second Y-direction linear module; 44. a second X-direction linear module; 45. a Z-direction linear module; 46. a rotation module;

5. an unmanned aerial vehicle fixing mechanism; 51. mounting a plate; 52. a first motor; 53. a clamping plate; 54. a positive and negative screw rod; 55. a nut; 56. a slider; 531. a V-shaped nip;

6. a holder fixing mechanism; 61. a mounting frame; 62. a fixed block; 63. a second motor; 64. a sliding sleeve; 641. a pin hole; 611. a long hole;

7. an unmanned aerial vehicle;

8. a mobile hatch.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. are used in an orientation or positional relationship based on that shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

The invention provides an unmanned aerial vehicle hangar which is used for realizing the storage and parking of a plurality of unmanned aerial vehicles 7, and can refer to figure 1, the unmanned aerial vehicle hangar comprises a cabin body 1, a storage platform 2, a following type platform 3 and a grabbing mechanism 4,

wherein:

above-mentioned cabin body 1 is rectangle form box structure, and its open-top sets up for supply unmanned aerial vehicle 7 business turn over cabin body 1. And a movable cabin door 8 is further arranged at the top of the cabin body 1, and the movable cabin door 8 is arranged in a sliding manner so as to realize the closing and opening of the top of the cabin body 1. In particular, the mobile hatch 8 can be driven by means of a motor, pulleys and toothed belts to slide relative to the cabin 1. And the movable hatch 8 slides through a linear guide slider. In order to reduce the footprint of the mobile hatch 8 when opened, the mobile hatch 8 is of a double-decker retractable configuration (shown in figure 1). In this embodiment, the structure of the movable hatch 8 is a common structure in the prior art, and is not described in detail.

Four corners at the bottom of the cabin body 1 are provided with height-adjustable anchor feet 11 so as to ensure the levelness and stability of the cabin body 1 when placed.

Preferably, the outer surface of the cabin 1 of the present embodiment is treated with rust and corrosion prevention, and a sand-proof and rain-proof coating or cover may be further disposed on the outer surface of the cabin 1.

Optionally, a temperature and humidity adjusting device (for example, an air conditioning heat pump system) may be further disposed inside the cabin 1, and the temperature and humidity inside the cabin 1 can be adjusted by cooperating with a temperature and humidity detecting device (for example, a temperature and humidity sensor) and/or an exhaust fan. Monitoring devices can be further arranged in the cabin body 1, and the storage condition of the unmanned aerial vehicle 7 in the cabin body 1 can be monitored in real time through the monitoring devices. Lighting lamps and charging devices may also be provided in the cabin 1.

The storage platform 2 is provided with a plurality of, and the above-mentioned storage platform 2 is flat storage platform, and this flat storage platform is installed in cabin body 1, and it is used for parking unmanned aerial vehicle 7. In this embodiment, the number of the storage platforms 2 is preferably four, and the storage platforms are distributed on two sides of the following platform 3. It will be appreciated that the number of storage platforms 2 may be adjusted as required.

It should be noted that, in this embodiment, a charging mechanism or a battery replacement mechanism may be further added in the storage platform 2, so as to charge the unmanned aerial vehicle 7 or perform battery replacement operation.

The following platform 3 is installed in the cabin 1 and is used for initially parking the descending unmanned aerial vehicle 7. Referring to fig. 2, the following platform 3 includes a frame 31, the frame 31 is disposed along an X direction, a first X direction linear module 32 and a first X direction slide rail 33 are mounted on a plane of the frame 31, the first X direction linear module 32 and the first X direction slide rail 33 are disposed along the X direction, and two first X direction slide rails 33 are disposed on two sides of the first X direction linear module 32.

The following platform 3 further includes a supporting plate (not shown) sliding on the two first X-direction sliding rails 33, and the supporting plate is driven by the first X-direction linear module 32 to slide. A first Y-direction linear module 34 is fixedly mounted on the support plate and is disposed perpendicular to the first X-direction linear module 32. A platform 35 is disposed on the first Y-direction linear module 34, and the platform 35 can be driven by the first Y-direction linear module 34 to move along the Y direction.

In addition, the first X-direction linear module 32 and the first Y-direction linear module 34 include high-precision stepping motors or servo motors, and the stepping motors or the servo motors are integrated with position encoders to realize precise position control, so that the movement of the platform surface 35 is more precise.

Above-mentioned following formula platform 3 of this embodiment, through first X to linear module 32 and first Y to linear module 34, can make platform face 35 stop at the optional position of horizontal plane, and then when unmanned aerial vehicle 7 descends, through unmanned aerial vehicle 7's positional information, control first X to linear module 32 and first Y to linear module 34 drive platform face 35 and remove to the position department that this positional information corresponds, unmanned aerial vehicle 7 can descend on platform face 35 afterwards.

The above-mentioned mechanism 4 of snatching is used for getting and puts unmanned aerial vehicle 7, and it can snatch unmanned aerial vehicle 7 on the following platform 3 to storing on the platform 2, also can snatch unmanned aerial vehicle 7 on the storing platform 2 to on the following platform 3. Specifically, as shown in fig. 3, the grabbing mechanism 4 includes a moving platform, and a manipulator 41 driven by the moving platform to move in X, Y, Z three directions, and the manipulator 41 can be driven by the moving platform to move to the unmanned aerial vehicle 7, and grab the unmanned aerial vehicle 7. Preferably, the grabbing mechanism 4 of the embodiment further includes a camera device 42, the camera device 42 is used for acquiring the position and angle information of the unmanned aerial vehicle 7 parked on the following platform 3 and the storage platform 2, and then the manipulator 41 is driven by the moving platform to move to the unmanned aerial vehicle 7, so as to grab the unmanned aerial vehicle 7.

In this embodiment, the moving platform includes a second Y-direction linear module 43, a second X-direction linear module 44 driven by the second Y-direction linear module 43 to move along the Y-direction, a Z-direction linear module 45 driven by the second X-direction linear module 44 to move along the X-direction, and a rotation module 46 driven by the Z-direction linear module 45 to move along the Z-direction, and the robot 41 is mounted on the rotation module 46 and can be driven to rotate by the rotation module 46. Through above-mentioned moving platform, can make manipulator 41 remove and use the direction rotation of Z direction as the axis in X, Y, Z three directions, realize snatching the accuracy of unmanned aerial vehicle 7.

It should be noted that, in this embodiment, the moving range of the second Y-direction linear module 43 and the second X-direction linear module 44 can cover all the storage platforms 2, so as to realize the grabbing and placing of the unmanned aerial vehicle 7 on any one of the storage platforms 2. The rotating module 46 may be a rotating cylinder, or other devices capable of driving the manipulator 41 to rotate, which is a common device in the prior art, and the detailed structure is not described again.

Further, in order to make the unmanned aerial vehicle hangar of this embodiment be applicable to the moving vehicle occasion, the unmanned aerial vehicle hangar of this embodiment still includes unmanned aerial vehicle fixed establishment 5 and cloud platform fixed establishment 6, wherein:

above-mentioned unmanned aerial vehicle fixed establishment 5 sets up in the below of storing platform 2 for fix unmanned aerial vehicle 7, in order to avoid it in the transportation drunkenness and cause the damage. Every stores platform 2 and all corresponds and is provided with an unmanned aerial vehicle fixed establishment 5. Referring to fig. 4, the fixing mechanism 5 of the unmanned aerial vehicle includes a mounting plate 51, a first motor 52 and two sets of clamping members, wherein:

above-mentioned mounting panel 51 is fixed in the bottom of above-mentioned storage platform 2, and fixed mounting has above-mentioned first motor 52 on this mounting panel 51, and this first motor 52 can drive the removal that two sets of holders deviate from in opposite directions or mutually through transmission structure, when two sets of holders move in opposite directions, can realize fixed to unmanned aerial vehicle 7's centre gripping, when two sets of holders move away from mutually, can remove fixed to unmanned aerial vehicle 7's centre gripping.

Specifically, the transmission structure may be a positive and negative lead screw 54, the first motor 52 drives the positive and negative lead screw 54 to rotate through belts or gears, etc., and the positive and negative lead screw 54 is connected to two nuts 55 by threads, the two nuts 55 are respectively fixed with a sliding block 56, the sliding block 56 can slide on a guide rail, and the guide rail is mounted at the bottom of the mounting plate 51. Each of the two sets of clamps is mounted on a slide 56 and is movable with the slide 56. The first motor 52 drives the positive and negative screw rod 54 to rotate, so that the two nuts 55 move in the opposite directions or in the opposite directions along the positive and negative screw rod 54, the nuts 55 drive the sliding block 56 and the clamping pieces to move, and finally the two groups of clamping pieces can move in the opposite directions or in the opposite directions, so that the unmanned aerial vehicle 7 can be clamped and fixed or released.

In this embodiment, the clamping member includes two clamping plates 53 respectively disposed on two sides of the mounting plate 51, and the two clamping plates 53 are respectively fixed on two sides of the sliding block 56 and move along with the sliding block 56. Referring to fig. 5 and 6, in the present embodiment, a rectangular hole 21 for the clamping plate 53 to move is formed in the storage platform 2, and the clamping portion of the clamping plate 53 penetrates through the rectangular hole 21 to clamp and fix the unmanned aerial vehicle 7.

Further, as shown in fig. 4, a V-shaped clamping opening 531 is formed in the clamping plate 53, and the V-shaped clamping opening 531 is used for clamping the unmanned aerial vehicle 7. Wherein the V-shaped jaws 531 of the two clamping plates 53 located on the same side of the mounting plate 51 are disposed opposite to each other, so that a space for placing the legs of the drone 7 is formed between the two V-shaped jaws 531, and then the two opposite V-shaped jaws 531 can clamp the drone 7 by the movement of the clamping plates 53.

Through above-mentioned unmanned aerial vehicle fixed establishment 5, can realize 7 fixed to unmanned aerial vehicle, the drunkenness when avoiding transporting, above-mentioned unmanned aerial vehicle fixed establishment 5 also can be applied to the occasion of non-removal of course.

Above-mentioned cloud platform fixed establishment 6 can realize the fixed of the cloud platform that loads to unmanned aerial vehicle 7 to the damage is rocked to the cloud platform when avoiding transporting. Referring to fig. 7, the holder fixing mechanism 6 includes a mounting frame 61 fixed below the storage platform 2, a driving member fixedly connected to the mounting frame 61, and a fixing block 62 driven by the driving member to move in a vertical direction, and a hole 22 (shown in fig. 5) is formed in the storage platform 2, and the fixing block 62 can pass through the hole 22 and be fixed on the holder.

In this embodiment, the driving member includes a second motor 63, a screw (not shown) driven by the second motor 63, a nut (not shown) screwed to the screw, and a sliding sleeve 64 fixedly connected to the nut, wherein the sliding sleeve 64 is fixedly connected to the fixing block 62. The sliding sleeve 64 is provided with a pin hole 641, the mounting bracket 61 is provided with an elongated hole 611 along the vertical direction, and the pin passes through the elongated hole 611 and the pin hole 641, so that the sliding sleeve 64 cannot rotate. When the cloud platform needs to be fixed, drive the lead screw through second motor 63 and rotate, owing to the effect of round pin axle, sliding sleeve 64 and nut can follow the lead screw and remove this moment, and then drive fixed block 62 by sliding sleeve 64 and pass storage platform 2 and be fixed in on the cloud platform.

It is understood that the driving member may be a linear motor, and may be a structure such as an air cylinder capable of achieving the linear displacement of the fixing block 62. The driving member can directly drive the fixing block 62 to pass through the storage platform 2 and be fixed on the pan/tilt head.

When the unmanned aerial vehicle hangar is in an initial state, the movable cabin door 8 is in a closed state, the following platform 3 is located at the middle position, the grabbing mechanism 4 is located at the corner position of the cabin body 1, and the unmanned aerial vehicle fixing mechanism 5 (if any) and the holder fixing mechanism 6 (if any) are both in a closed state.

When the unmanned aerial vehicle 7 needs take-off operation, at first the portable hatch door 8 is opened, if has parked unmanned aerial vehicle 7 on following formula platform 3, then direct control unmanned aerial vehicle 7 takes off and carries out relevant operation. If no unmanned aerial vehicle 7 parks on the following platform 3, then will park unmanned aerial vehicle fixed establishment 5 (if have) and cloud platform fixed establishment 6 (if have) that storage platform 2 that has unmanned aerial vehicle 7 corresponds and open, snatch mechanism 4 afterwards and snatch unmanned aerial vehicle 7 that will store on the platform 2 and to follow on the following platform 3, control unmanned aerial vehicle 7 again and take off and carry out the operation.

When 7 when descending of unmanned aerial vehicle, portable hatch door 8 is opened, stores unmanned aerial vehicle fixed establishment 5 that platform 2 corresponds (if have) and cloud platform fixed establishment 6 (if have) and opens, and following formula platform 3 removes to descending position department according to the positional information that 7 of unmanned aerial vehicle descend afterwards for 7 of unmanned aerial vehicle descend on following formula platform 3. Follow-on platform 3 drives unmanned aerial vehicle 7 and removes to the intermediate position afterwards, and the manipulator 41 that snatchs mechanism 4 removes to this unmanned aerial vehicle 7 department to snatch unmanned aerial vehicle 7 and place on storing platform 2, realize unmanned aerial vehicle 7's accurate parking. Subsequently, the grabbing mechanism 4 moves to the corner of the hangar, the unmanned aerial vehicle 7 is clamped and fixed by the unmanned aerial vehicle fixing mechanism 5 (if any), the cloud deck is fixed by the corresponding cloud deck fixing mechanism 6 (if any), and the movable cabin door 8 is closed.

Above-mentioned unmanned aerial vehicle hangar of this embodiment through setting up a plurality of storage platforms 2, can realize the storage of many unmanned aerial vehicles 7, park, can realize many unmanned aerial vehicles 7 continuous uninterrupted duty and simultaneous operation simultaneously.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, adaptations and substitutions will occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. The utility model provides an unmanned aerial vehicle hangar, includes cabin body (1), its characterized in that still includes:

a plurality of storage platforms (2) disposed inside the cabin (1) for parking unmanned aerial vehicles (7);

the following type platform (3) is arranged in the cabin body (1) and can move to a landing point of the unmanned aerial vehicle (7);

the grabbing mechanism (4) can move to the following platform (3) and any one of the storage platforms (2) and is used for taking and placing the unmanned aerial vehicle (7) on the following platform (3) to the preset position of the storage platform (2).

2. The unmanned aerial vehicle hangar of claim 1, wherein the trailing platform (3) comprises a frame body (31), a first X-direction linear module (32) and a first X-direction slide rail (33) which are mounted on the frame body (31) and arranged along the X direction, a support plate which is driven by the first X-direction linear module (32) to slide along the first X-direction slide rail (33), a first Y-direction linear module (34) which is fixedly arranged on the support plate, and a platform table top (35) which is driven by the first Y-direction linear module (34) to move along the Y direction.

3. Unmanned aerial vehicle hangar according to claim 1, wherein the grasping mechanism (4) comprises a mobile platform, a manipulator (41) driven by the mobile platform to be movable in three directions X, Y, Z, and a camera device (42) mounted on the manipulator (41).

4. The unmanned hangar of claim 3, wherein the mobile platform comprises a second Y-direction linear module (43), a second X-direction linear module (44) driven by the second Y-direction linear module (43) to move in the Y-direction, and a Z-direction linear module (45) driven by the second X-direction linear module (44) to move, the manipulator (41) being capable of being driven by the Z-direction linear module (45) to move in the Z-direction.

5. The unmanned aerial vehicle hangar of claim 4, wherein the grabbing mechanism (4) further comprises a rotation module (46), the rotation module (46) is disposed on the Z-direction linear module (45) and can be driven by the Z-direction linear module (45) to move along the Z direction, and the manipulator (41) is mounted on the rotation module (46) and can be driven by the rotation module (46) to rotate.

6. The unmanned aerial vehicle hangar of claim 1, further comprising an unmanned aerial vehicle fixing mechanism (5) disposed below the storage platform (2), wherein the unmanned aerial vehicle fixing mechanism (5) comprises a mounting plate (51) fixed on the storage platform (2), a first motor (52) fixedly disposed on the mounting plate (51), and two sets of clamping members driven by the first motor (52) to move toward or away from each other, and used for clamping and fixing the unmanned aerial vehicle (7).

7. The unmanned aerial vehicle hangar of claim 6, wherein the clamping members comprise clamping plates (53) disposed on either side of the mounting plate (51), the clamping plates (53) being disposed through the storage platform (2).

8. The unmanned aerial vehicle hangar of claim 7, wherein the clamping plates (53) are provided with V-shaped clamping openings (531), and the V-shaped clamping openings (531) of the two clamping plates (53) on the same side of the mounting plate (51) are arranged oppositely.

9. The unmanned aerial vehicle hangar of claim 8, wherein the unmanned aerial vehicle securing mechanism (5) further comprises a positive lead screw (54) driven by the first motor (52) to rotate, two nuts (55) threaded on the positive lead screw (54), a slider (56) fixedly connected to the nuts (55), and a guide rail disposed under the mounting plate (51), the slider (56) being slidable relative to the guide rail, and each slider (56) being mounted with a set of the clamping members.

10. The unmanned aerial vehicle hangar of claim 1, further comprising a pan-tilt fixing mechanism (6), wherein the pan-tilt fixing mechanism (6) comprises a mounting frame (61) fixedly arranged below the storage platform (2), a driving member fixedly connected to the mounting frame (61), and a fixing block (62) driven by the driving member to move in a vertical direction, and the fixing block (62) can pass through the storage platform (2).