CN112727216A - Unmanned aerial vehicle access method and three-dimensional access equipment thereof - Google Patents
Unmanned aerial vehicle access method and three-dimensional access equipment thereof Download PDFInfo
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- CN112727216A CN112727216A CN202011602353.0A CN202011602353A CN112727216A CN 112727216 A CN112727216 A CN 112727216A CN 202011602353 A CN202011602353 A CN 202011602353A CN 112727216 A CN112727216 A CN 112727216A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 230000003028 elevating effect Effects 0.000 claims abstract description 9
- 230000000630 rising effect Effects 0.000 claims abstract description 5
- 238000013519 translation Methods 0.000 claims description 25
- 230000005540 biological transmission Effects 0.000 claims 1
- 230000008602 contraction Effects 0.000 claims 1
- 238000000151 deposition Methods 0.000 abstract description 3
- 238000003491 array Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 10
- 230000009471 action Effects 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 238000000429 assembly Methods 0.000 description 5
- 230000000712 assembly Effects 0.000 description 5
- 108010066057 cabin-1 Proteins 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000005012 migration Effects 0.000 description 2
- 238000013508 migration Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 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
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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
- B64F1/22—Ground or aircraft-carrier-deck installations for handling aircraft
- B64F1/222—Ground or aircraft-carrier-deck installations for handling aircraft for storing aircraft, e.g. in hangars
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- 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
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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Abstract
The invention provides an unmanned aerial vehicle access method, which is characterized in that a carrier device needing to be stored or taken out is moved to an aircraft stop position adjacent to an access device through vertical or horizontal moving operation by utilizing an idle aircraft stop position arranged in a hangar of three-dimensional access equipment of an unmanned aerial vehicle and an idle position generated by the reciprocating operation position and the rising and falling operation of the access device; the flexible fork extension of access arrangement backs down locking device's elastic clamping groove and accomplishes depositing or taking out operation of unmanned aerial vehicle. The utility model provides a three-dimensional access arrangement of unmanned aerial vehicle, includes the cabin body, divides the hangar that a plurality of arrays were arranged in the cabin body, and every hangar includes elevating gear, sideslip device, carries machine device and access arrangement. The invention provides an unmanned aerial vehicle access method and three-dimensional access equipment thereof, which adopt a brand-new pick-and-place mode, enable an access device to only occupy one stand, save a common moving channel, have compact structure and high space utilization rate, and realize the rapid warehouse-in and warehouse-out of an unmanned aerial vehicle at any stand.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle hangar equipment, and particularly relates to an unmanned aerial vehicle access method and three-dimensional access equipment thereof.
Background
Along with modern science and technology and economic construction's high-speed development, unmanned aerial vehicle is applied to the exploration image more and more, film and television media, the energy is patrolled and examined, the remote sensing survey and drawing, agricultural service, emergency rescue, capital construction engineering, military reconnaissance, geology, weather, trades such as electric power and field, demand quantity is also more and more, in order to solve parking, transportation and the calling problem of unmanned helicopter, special unmanned aerial vehicle hangar has been designed among the prior art, chinese patent for CN111622570A as a publication number provides an unmanned aerial vehicle hangar equipment, include: unmanned aerial vehicle storage structure, it includes unmanned aerial vehicle parking storehouse and elevating system, elevating system is used for depositing into and takes out unmanned aerial vehicle from unmanned aerial vehicle parking storehouse, nevertheless because unmanned aerial vehicle's parking stall is fixed in parking storehouse, can't remove, leads to elevating system to need occupy public space and just can realize that unmanned aerial vehicle gets and put, and space utilization is low, parks, conveying efficiency is lower.
Disclosure of Invention
In order to solve the technical problems, the invention provides an unmanned aerial vehicle access method and a three-dimensional access device thereof, wherein a brand-new access mode is adopted, so that an access device only occupies one parking space, a common moving channel is omitted, the structure is compact, the space utilization rate is high, and the unmanned aerial vehicle at any parking space can be rapidly delivered out of a warehouse and put in the warehouse.
The invention is realized by the following technical scheme:
an unmanned aerial vehicle access method comprises the following steps:
the method comprises the following steps: the access device of the unmanned aerial vehicle three-dimensional access equipment stops at an operation position in a hangar of the unmanned aerial vehicle three-dimensional access equipment;
step two: the method comprises the following steps that a carrier device needing to be stored or taken out is moved to a parking place adjacent to an access device through vertical or horizontal moving operation by utilizing an idle parking place arranged in a hangar of the three-dimensional access equipment of the unmanned aerial vehicle and an idle place generated by the operation of a reciprocating operation position and a rising and falling position of the access device;
step three: the flexible fork extension of access arrangement backs down locking device's elastic clamping groove and accomplishes depositing or taking out the operation of unmanned aerial vehicle, and flexible fork withdrawal makes elastic clamping groove lock again.
When the unmanned aerial vehicle enters the warehouse, the storage operation is executed in the second step and the third step, and the method further comprises the following steps before the first step:
step zero: the access device reaches the lifting position through the lifting device, and the unmanned aerial vehicle executes the first step after landing on the access device;
and step two is synchronously performed when step zero and step one are performed.
When the unmanned aerial vehicle is taken out of the warehouse, the taking-out operation is executed in the second step and the third step, and the following steps are also included after the third step:
step four: the access device drives the taken unmanned aerial vehicle to reach the landing position through the lifting device, and the unmanned aerial vehicle takes off to execute tasks.
The novel picking and placing mode that the storing and taking device only moves back and forth between two adjacent operation positions and a lifting position and the carrier device used for parking the unmanned aerial vehicle moves randomly between the parking positions is realized, so that the storing and taking device only occupies one parking position, a public moving channel is omitted, the structure is compact, the space utilization rate is high, and the unmanned aerial vehicle of any parking position can be rapidly delivered out of a warehouse and put in the warehouse.
A three-dimensional unmanned aerial vehicle storing and taking device is used for the unmanned aerial vehicle storing and taking method and comprises a cabin body, wherein the cabin body is divided into a plurality of hangars which are arranged in an array mode, each hangar comprises a lifting device, a transverse moving device, a carrier device and a storing and taking device, the lifting devices are horizontally and linearly arranged in the hangars, each lifting device is provided with a plurality of parking positions and translation channels in a vertical linear array mode, the parking positions which are arranged along a vertical plane array mode are constructed, the hangars are provided with a plurality of landing windows, the landing windows are landing positions, the parking position which is closest to the landing windows is an operating position, the storing and taking device is installed on the operating position, at least one parking position in the hangars is empty, the carrier devices are installed on the rest parking positions and vertically move through the lifting devices, the carrier devices horizontally move in the translation channels through the transverse moving devices, and the storing and taking devices move back, the storing and taking device stores or takes out the carrier device of the unmanned aerial vehicle at the operation position, realizes the vertical and horizontal movement of the carrier device, and further realizes the brand-new taking and placing mode of the unmanned aerial vehicle: the access device only moves back and forth between two adjacent operation positions and a lifting position, and the carrier device for parking the unmanned aerial vehicle moves randomly between the parking positions, so that the access device only occupies one parking position, a public moving channel is omitted, the structure is compact, the space utilization rate is high, and the unmanned aerial vehicle of any parking position can be rapidly delivered out of a warehouse and put in the warehouse.
The vertical movement type horizontal movement device is characterized by further comprising roller assemblies, the roller assemblies are mounted on the lifting device and vertically move through the lifting device, two rows of first rollers are arranged on the roller assemblies and vertically rotate, a translation channel is formed between the two rows of first rollers, two ends of the carrier device are mounted in the translation channel, the translation channel is built when the carrier device achieves vertical movement, and a foundation is laid for horizontal movement.
In order to realize the vertical removal of loader device, elevating gear includes mounting bracket and the first servo motor of the vertical setting of two symmetries, and the mounting bracket both ends are rotated respectively and are connected with drive sprocket and driven sprocket, and drive sprocket is rotated by the drive of first servo motor, and drive sprocket and driven sprocket pass through chain drive and connect, correspond a plurality of wheel components of shut down position interval fixedly connected with on the chain, the vertical slide rail that is provided with on the mounting bracket, wheel component and slide rail roll connection.
Correspond the shut-down position on the elevating gear and be provided with electronic stop device, electronic stop device includes push rod bolt and electric putter, the telescopic link tip at electric putter is fixed to the push rod bolt, it is provided with first spacing hole to correspond the push rod bolt on the carrier device, when the carrier device stops on the shut-down position, electric putter releases the push rod bolt and inserts carrier device and realize locking location, and then the protection is deposited unmanned aerial vehicle on the carrier device in, make the three-dimensional access equipment of unmanned aerial vehicle can load with the car, on the vehicle such as steamer, protect unmanned aerial vehicle in the transportation.
The transverse moving device comprises a support, a transverse moving driver and an air cylinder, the transverse moving driver comprises a friction wheel and a second servo motor, the friction wheel is driven by the second servo motor to horizontally rotate, the support is provided with a guide rail, the transverse moving driver is slidably mounted on the guide rail, the air cylinder is fixed on the support, the end part of a piston rod of the air cylinder is fixedly connected with the transverse moving driver, the piston rod freely extends under the normal state of the air cylinder, a spring is arranged between the transverse moving driver and the support to enable the friction wheel to abut against a carrier device in the hangar, and the air cylinder controls the friction wheel to be separated from the, the horizontal movement of the loading device is realized through the friction wheel driving, so that the loading device can be moved to any parking place, when the carrier device needs to be lifted vertically, the air cylinder contracts to enable the friction wheel to be separated from effective contact with the carrier device, and a lifting space is made available, so that the lifting action of the carrier device is smooth.
Access arrangement includes the fork support plate, flexible fork and third servo motor, and flexible fork and servo motor are fixed respectively on the fork support plate, and flexible fork is flexible to adjacent out-of-service position by third servo motor drive control, the carrier device is including carrying frame and locking device, and a plurality of locking device fix in carrying the frame, offer the elasticity draw-in groove that is used for fixed unmanned aerial vehicle undercarriage on the locking device and be used for unblock elasticity draw-in groove's roof, and flexible fork extension withstands the roof and drives the elasticity draw-in groove unblock, realizes that unmanned aerial vehicle loads, and locking fixed function, and the carrier device goes up and down in the hangar of the three-dimensional access equipment of unmanned aerial vehicle, action processes such as translation can fix unmanned aerial vehicle steadily, guarantees unmanned aerial vehicle's stationarity, security.
Be provided with electric cabinet and touch panel on the cabin body, built-in radio signal receiver and the radio signal transmitter of having in the electric cabinet, touch panel, elevating gear, sideslip device, year machine device and access arrangement respectively with electric cabinet electric connection for the three-dimensional access arrangement of unmanned aerial vehicle has realized touch-control operation and remote control operation.
The invention has the beneficial effects that:
compared with the prior art, through setting up elevating gear, sideslip device, realize carrying the vertical and horizontal migration of machine, realized access arrangement and only come and go between two adjacent operation positions and rising and falling position, a brand-new mode of getting of carrying the machine that is used for parking unmanned aerial vehicle and moving wantonly between each shut down position for access arrangement only occupies a shut down position, has saved public removal passageway, compact structure, space utilization is high, realize that the unmanned aerial vehicle of arbitrary shut down position goes out the warehouse fast, puts in the warehouse. The unmanned aerial vehicle loading, locking and fixing functions are realized by arranging the electric limiting device, the first limiting hole and the locking device, and the carrier device can stably fix the unmanned aerial vehicle in the action processes of lifting, translation and the like in a hangar of the three-dimensional access equipment of the unmanned aerial vehicle, so that the stability and the safety of the unmanned aerial vehicle are ensured; meanwhile, locking and positioning are achieved when the carrier device stops at the parking position, and then the unmanned aerial vehicle stored on the carrier device is protected, so that the unmanned aerial vehicle three-dimensional access equipment can be loaded on vehicles such as automobiles and steamships, and the unmanned aerial vehicle is protected in transportation. The electric cabinet and the touch panel are arranged on the cabin body, so that the unmanned aerial vehicle three-dimensional access equipment realizes touch operation and remote control operation.
Drawings
FIG. 1 is a schematic structural diagram of a first embodiment of the present invention;
FIGS. 2 to 5 are three views and an isometric view of the internal structure of a cabin of the first embodiment of the present invention with the cabin removed;
FIG. 6 is a schematic structural diagram of a roller assembly according to a first embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a lifting device according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of an electric limiting device according to a first embodiment of the present invention;
FIGS. 9-11 are front, top and axial views, respectively, of a traversing apparatus according to an embodiment of the present invention;
FIG. 12 is a schematic view of a traverse actuator according to an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of a loader device according to an embodiment of the present invention;
FIG. 13 is a schematic structural diagram of a loader device according to an embodiment of the present invention;
FIG. 14 and FIG. 15 are schematic front and axial views of a locking device according to an embodiment of the present invention;
FIG. 16 is a schematic structural diagram of a locking seat according to an embodiment of the present invention;
FIG. 17 is a schematic structural view illustrating the connection between the locking rack and the second slide rail according to the first embodiment of the present invention;
FIG. 18 is a block diagram of an access device according to an embodiment of the present invention;
FIG. 19 is a schematic structural view of a retractable fork according to one embodiment of the present invention;
FIG. 20 is a view in the direction A-A of FIG. 19;
FIG. 21 is a schematic structural diagram of a stopper according to an embodiment of the present invention;
fig. 22 to 25 are flow charts of the unloading of the unmanned aerial vehicle from the number 1 to 4 carrier devices in the cabin 1 according to the embodiment, respectively;
fig. 26 is a schematic structural diagram of a second embodiment of the present invention.
In the figure: 1-cabin body, 2-lifting device, 3-transverse moving device, 4-carrying device, 5-storing and taking device, 6-lifting window, 7-roller component, 8-undercarriage, 9-position limiter,
11-an electric cabinet, 12-a touch panel,
21-a mounting frame, 22-a first servo motor, 23-a driving chain wheel, 24-a driven chain wheel, 25-a chain, 26-an electric limiting device, 211-a first slide rail, 212-a abdicating groove, 261-a push rod bolt, 262-an electric push rod, 2111-a guide inclined plane,
31-bracket, 32-transverse moving driver, 33-cylinder, 34-guide rail, 35-spring, 36-stop pin, 321-friction wheel, 322-second servo motor,
41-a first limit hole, 42-a carrier frame, 43-a locking device, 431-an elastic clamping groove, 432-a top plate, 433-a locking seat, 434-a locking tension spring, 435-a locking frame, 436-a second sliding rail, 4331-a groove, 4351-a stop block,
51-pallet fork carrier plate, 52-telescopic pallet fork, 53-third servo motor, 54-second limit hole, 521-lower plate, 522-middle plate, 523-upper plate,
71-first roller, 72-second roller, 73-third roller, 74-fourth roller,
91-limiting pin and 92-bearing.
Detailed Description
The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.
An unmanned aerial vehicle access method comprises the following steps:
the method comprises the following steps: the access device 5 of the unmanned aerial vehicle three-dimensional access equipment stops at an operation position in a hangar of the unmanned aerial vehicle three-dimensional access equipment;
step two: the method comprises the following steps that by utilizing an idle parking position arranged in a hangar of the unmanned aerial vehicle three-dimensional access equipment and an idle position generated by the reciprocating operation position and the rising and falling position operation of an access device 5, a carrier device 4 needing to be stored or taken out is moved to a parking position adjacent to the access device 5 through vertical or horizontal movement operation;
step three: the telescopic fork 52 of the access device 5 extends to push the elastic clamping groove 431 of the locking device 43 open to complete the storage or taking-out operation of the unmanned aerial vehicle, and the telescopic fork 52 retracts to enable the elastic clamping groove 431 to be locked again.
When the unmanned aerial vehicle enters the warehouse, the storage operation is executed in the second step and the third step, and the method further comprises the following steps before the first step:
step zero: the access device 5 reaches a lifting position through the lifting device 2, and the unmanned aerial vehicle executes the first step after landing on the access device 5;
and step two is synchronously performed when step zero and step one are performed.
When the unmanned aerial vehicle is taken out of the warehouse, the taking-out operation is executed in the second step and the third step, and the following steps are also included after the third step:
step four: the access device 5 takes the taken unmanned aerial vehicle out to reach the landing position through the lifting device 2, and the unmanned aerial vehicle takes off to execute tasks.
The novel picking and placing mode that the storing and taking device 5 only moves back and forth between two adjacent operation positions and a lifting position and the carrier device 4 used for parking the unmanned aerial vehicle moves randomly between the parking positions is realized, so that the storing and taking device 5 only occupies one parking position, a public moving channel is omitted, the structure is compact, the space utilization rate is high, and the unmanned aerial vehicle of any parking position can be rapidly delivered from a warehouse and put into the warehouse.
The application also provides three-dimensional access equipment of the unmanned aerial vehicle, which is used for the unmanned aerial vehicle access method, and is described by combining the specific embodiment as follows:
example one
As shown in fig. 1 to 5, the three-dimensional storing and taking equipment for unmanned aerial vehicles comprises a cabin body 1, a hangar is arranged in the cabin body 1, the hangar comprises lifting devices 2, a transverse moving device 3, a carrier device 4 and a storing and taking device 5, three lifting devices 2 are horizontally and linearly arranged in the hangar, each lifting device 2 is provided with two parking positions and a translation channel in a vertical linear array to form parking positions which are arranged in a 3 x 2 array along a vertical plane, one end of the top of the hangar is provided with a landing window 6, the landing window 6 is a landing position, the parking position closest to the landing window 6 is an operating position, the storing and taking device 5 is arranged on the operating position, the parking positions below the operating position are vacant, the carrier devices 4 are arranged on the rest parking positions, the carrier devices 4 vertically move through the lifting devices 2, the carrier devices 4 horizontally move in the translation channels through the transverse moving devices 3, the storing and taking device 5 moves back and forth between the operating position and the operating position through, storage device 5 deposits unmanned aerial vehicle or takes out camera device 4 at the operation position, has realized camera device 4 vertical and horizontal migration, and then has realized the brand-new mode of getting of unmanned aerial vehicle: the access device 5 only moves back and forth between two adjacent operation positions and a lifting position, and the carrier device 4 for parking the unmanned aerial vehicle freely moves between the parking positions, so that the access device 5 only occupies one parking position, a public moving channel is omitted, the structure is compact, the space utilization rate is high, and the unmanned aerial vehicle of any parking position can be rapidly delivered out of a warehouse and put in the warehouse. In this embodiment, the flow of the unmanned aerial vehicle exiting from the cabin 1 on the number 1 to 4 carrier devices 4 is shown in fig. 22 to 25.
As shown in fig. 4 to 7, the lifting device further comprises a roller assembly 7, the roller assembly 7 is installed on the lifting device 2, the roller assembly 7 vertically moves through the lifting device 2, two rows of first rollers 71 are arranged on the roller assembly 7, the first rollers 71 vertically rotate, a translation channel is formed between the two rows of first rollers 71, two ends of the carrier device 4 are installed in the translation channel, the translation channel is constructed while the carrier device 4 vertically moves, and a foundation is laid for horizontal movement. In this embodiment, in order to reduce the friction force of the translation and ensure the stability of the translation, a plurality of windows are formed in the translation channel, the second rollers 72 are rotatably connected in the windows, the rotating shafts of the second rollers 72 are vertically arranged and are matched with the first rollers 71 to realize rolling connection with the carrier device 4, meanwhile, two rows of the first rollers 71 clamp two ends of the carrier device 4 from two sides, the first rollers 71 are in sliding friction contact with the rotating shafts thereof through wear-resistant rings, stability is provided in the lifting process of the carrier device 4, the transverse moving device 3 is required to provide a driving force to move the carrier device 4 during the translation, and the first rollers 71 are rotated to realize the translation by overcoming the sliding friction force of the rotating shafts thereof.
As shown in fig. 4 to 7, the lifting device 2 includes two symmetrical mounting frames 21 and a first servo motor 22 which are vertically arranged, two ends of the mounting frame 21 are respectively connected with a driving sprocket 23 and a driven sprocket 24 in a rotating manner, the driving sprocket 23 is driven by the first servo motor 22 to rotate, the driving sprocket 23 and the driven sprocket 24 are connected through a chain 25 in a driving manner, a plurality of roller assemblies 7 are fixedly connected to the chain 25 at intervals corresponding to the machine stopping positions, a first slide rail 211 is vertically arranged on the mounting frame 21, and the roller assemblies 7 are connected with the first slide rail 211 in a rolling manner. In this embodiment, the roller assembly 7 is provided with a third roller 73 and a fourth roller 74, the third roller 73 and the fourth roller 74 respectively abut against the first slide rail 211 from two sides, the mounting frame 21 is provided with a receding groove 212 at two ends of the first slide rail 211, so that the roller assembly is separated from the first slide rail 211 at the position where the driving sprocket 23 or the driven sprocket 24 is located, and an enough space is provided to rotate from one side of the mounting frame 21 to the other side along with the movement of the chain 25, and in the vertical warehouse moving process of the loader device 4, the interference of the roller assembly 7 is avoided, two ends of the first slide rail 211 are provided with guide inclined planes 2111, and after the roller assembly 7 is separated from the first slide rail 211, the roller assembly is conveniently connected with the first slide rail 211 in a.
As shown in fig. 4, fig. 5, fig. 7, and fig. 8, an electric limiting device 26 is arranged on the lifting device 2 corresponding to the parking position, the electric limiting device 26 includes a push rod bolt 261 and an electric push rod 262, the push rod bolt 261 is fixed at the end of a telescopic rod of the electric push rod 262, a first limiting hole 41 is arranged on the carrier device 4 corresponding to the push rod bolt 261, when the carrier device 4 is parked at the parking position, the electric push rod 262 pushes the push rod bolt 261 to be inserted into the first limiting hole 41 of the carrier device 4 to realize locking and positioning, so as to protect the unmanned aerial vehicle stored on the carrier device 4, so that the unmanned aerial vehicle stereo access device can be loaded on vehicles such as automobiles and ships, and the unmanned aerial vehicle is protected in.
As shown in fig. 9 to 12, the traverse device 3 includes a support 31, a traverse driver 32 and an air cylinder 33, the traverse driver 32 includes a friction wheel 321 and a second servo motor 322, the friction wheel 321 is driven by the second servo motor 322 to horizontally rotate, the support 31 is provided with a guide rail 34, the traverse driver 32 is slidably mounted on the guide rail 34, the air cylinder 33 is fixed on the support 31, the end of a piston rod of the air cylinder 33 is fixedly connected with the traverse driver 32, the piston rod is freely extended under a normal state of the air cylinder 33, a spring 35 is arranged between the traverse driver 32 and the support 31 to enable the friction wheel 321 to abut against the carrier device 4 in the hangar, the air cylinder 33 controls the friction wheel 321 to be separated from the carrier device by contracting the piston rod, the horizontal movement of the carrier device 4 is realized by the driving of the friction wheel 321, so that the carrier device 4 can be moved to any parking position, the cylinder 33 is contracted to make the friction wheel 321 separate from effective contact with the carrier device 4, and the lifting space is made available, so that the lifting action of the carrier device 4 is smooth. In this embodiment, the end surface of the traverse actuator 32 facing the carrier device 4 is provided with a plurality of stop pins 36, the stop pins 36 are distributed on the upper and lower sides of the carrier device 4 to prevent the carrier device 4 from accidentally dropping during the traverse, and a distance exists between the position of the stop pin 36 and the carrier device 4, so that the stop pin does not interfere with the translation operation of the carrier device 4 under normal conditions.
As shown in fig. 18 to 20, the access device 5 includes a fork carrier 51, a retractable fork 52 and a third servomotor 53, the retractable fork 52 and the third servomotor 53 are respectively fixed on the fork carrier 51, the retractable fork 52 is driven and controlled by the third servomotor 53 to extend and retract to an adjacent parking space, in this embodiment, the retractable fork 52 includes a lower plate 521, a middle plate 522 and an upper plate 523, the lower plate 521 is fixed on the fork carrier 51, the middle plate 522 is slidably connected with the lower plate 521, the upper plate 523 is slidably connected with the middle plate 522, the third servomotor 53 drives the upper plate 523 and the middle plate 522 to simultaneously slide to form a three-stage retractable structure, the structure is rigid and is stable in extension and retraction, the fork carrier 51 is provided with a second limit hole 54 matching with a push rod 261, when the access device 5 is parked on an operation space, the push rod 262 pushes the push rod 261 out the push rod 261 to be inserted into the second limit hole 54 of the access device 5 to realize locking and positioning, the stability of the access operation process is ensured. As shown in fig. 13 to 17, the carrier device 4 includes a carrier frame 42 and a plurality of locking devices 43, the plurality of locking devices 43 are fixed on the carrier frame 42, the locking devices 43 are provided with elastic slots 431 for fixing the landing gear 8 of the unmanned aerial vehicle and a top plate 432 for unlocking the elastic slots 431, the telescopic forks 52 extend to push against the top plate 432 to drive the elastic slots 431 to unlock, in this embodiment, the locking device 43 comprises a locking seat 433, a locking tension spring 434, a locking frame 435 and a second slide rail 436, a groove 4331 for accommodating the landing gear 8 is formed in the upper end of the locking seat 433, the second slide rail 436 is fixed on the locking seat 433, the locking frame 435 is slidably mounted on the second slide rail 436, an outward extending stop 4351 is arranged on the locking frame 435, the locking frame 435 is connected with the locking seat 433 through the locking tension spring 434, the stop 4351 shields the opening of the groove 4331 to form an elastic clamping groove 431 by the elasticity of the locking tension spring 434, and the landing gear 8 is clamped in a space surrounded by the locking frame 435, the stop 4351 and the groove 4331. Realize that unmanned aerial vehicle loads, and lock fixed function, the action in-process such as lift, translation in the hangar of the three-dimensional access arrangement of unmanned aerial vehicle of carrier device 4 can fix unmanned aerial vehicle steadily, guarantees unmanned aerial vehicle's stationarity, security.
As shown in fig. 2 to 5, 13, 18 and 21, in this embodiment, a plurality of stoppers 9 are disposed at both ends of the carrier device 4 and both ends of the access device 5, each stopper 9 includes a stopper pin 91 and a bearing 92, the bearing 92 is mounted at one end of the stopper pin 91 through a circlip for shaft, and the other end of the stopper pin 91 is fixed at both ends of the carrier frame 42 of the carrier device 4 or both ends of the fork carrier plate 51 of the access device 5, so as to ensure stability during the traverse.
As shown in fig. 1, the cabin body 1 is provided with an electric cabinet 11 and a touch panel 12, a wireless signal receiver and a wireless signal transmitter are arranged in the electric cabinet 11, and the touch panel 12, the lifting device 2, the traversing device 3, the carrier device 4 and the access device 5 are respectively electrically connected with the electric cabinet 11, so that the unmanned aerial vehicle stereoscopic access device realizes touch operation and remote control operation.
Example two
As shown in fig. 26, in addition to the configuration of the first embodiment, there are modifications as follows:
the unmanned aerial vehicle three-dimensional access device comprises a cabin body 1, four 2 multiplied by 2 horizontally arrayed hangars are arranged in the cabin body 1, each hangar comprises a lifting device 2, a transverse moving device 3, a carrying device 4 and an access device 5, five lifting devices 2 are horizontally and linearly arranged in the hangars, each lifting device 2 is provided with three parking positions and translation channels in a vertical linear array to form the parking positions which are arranged in a 5 multiplied by 3 array along a vertical plane, both ends of the top of the hangar are provided with lifting windows 6, the lifting window 6 is a lifting position, the parking position which is closest to the lifting window 6 is an operation position, the operation position is provided with an access device 5, and the machine parking position below the operation position is vacant, the whole cabin body 1 is provided with eight landing windows 6, eight unmanned aerial vehicles can be simultaneously delivered or stored, the structure is compact, the space utilization rate is high, and the delivery or storage speed of the unmanned aerial vehicles is high. The hangar is provided with two idle positions, and the loader device can continuously rotate and move positions in a circulating way, so that the warehouse-out speed and the warehouse-in speed are improved; two lifting windows 6 are arranged, and warehouse-out and warehouse-in operations can be carried out simultaneously.
According to the unmanned aerial vehicle access method and the three-dimensional access equipment thereof, the vertical and horizontal movement of the carrier device is realized by arranging the lifting device and the transverse moving device, the access device only moves back and forth between two adjacent operation positions and lifting positions, and a brand-new pick-and-place mode that the carrier device for parking the unmanned aerial vehicle freely moves between the parking positions is realized, so that the access device only occupies one parking position, a common moving channel is saved, the structure is compact, the space utilization rate is high, and the unmanned aerial vehicle of any parking position can be rapidly taken out of a warehouse and put in the warehouse. The unmanned aerial vehicle loading, locking and fixing functions are realized by arranging the electric limiting device, the first limiting hole and the locking device, and the carrier device can stably fix the unmanned aerial vehicle in the action processes of lifting, translation and the like in a hangar of the three-dimensional access equipment of the unmanned aerial vehicle, so that the stability and the safety of the unmanned aerial vehicle are ensured; meanwhile, locking and positioning are achieved when the carrier device stops at the parking position, and then the unmanned aerial vehicle stored on the carrier device is protected, so that the unmanned aerial vehicle three-dimensional access equipment can be loaded on vehicles such as automobiles and steamships, and the unmanned aerial vehicle is protected in transportation. The electric cabinet and the touch panel are arranged on the cabin body, so that the unmanned aerial vehicle three-dimensional access equipment realizes touch operation and remote control operation.
Claims (10)
1. An unmanned aerial vehicle access method is characterized by comprising the following steps:
the method comprises the following steps: the access device (5) of the unmanned aerial vehicle stereoscopic access equipment stops at an operation position in a hangar of the unmanned aerial vehicle stereoscopic access equipment;
step two: by utilizing an idle parking position arranged in a hangar of the unmanned aerial vehicle three-dimensional access equipment and an idle position generated by the operation of a reciprocating operation position and a rising and falling position of the access device (5), a carrier device (4) needing to be stored or taken out is moved to a parking position adjacent to the access device (5) through vertical or horizontal movement operation;
step three: the telescopic fork (52) of the access device (5) extends to push open the elastic clamping groove (431) of the locking device (43) to complete the storage or taking-out operation of the unmanned aerial vehicle, and the telescopic fork (52) retracts to enable the elastic clamping groove (431) to be locked again.
2. The unmanned aerial vehicle access method of claim 1, wherein: when the unmanned aerial vehicle enters the warehouse, the storage operation is executed in the second step and the third step, and the method further comprises the following steps before the first step:
step zero: the access device (5) reaches a lifting position through the lifting device (2), and the unmanned aerial vehicle executes the first step after landing on the access device (5);
and step two is synchronously performed when step zero and step one are performed.
3. The unmanned aerial vehicle access method of claim 1, wherein: when the unmanned aerial vehicle is taken out of the warehouse, the taking-out operation is executed in the second step and the third step, and the following steps are also included after the third step:
step four: the access device (5) drives the taken unmanned aerial vehicle to reach the landing position through the lifting device (2), and the unmanned aerial vehicle takes off to execute tasks.
4. An unmanned aerial vehicle stereoscopic access device, which is used for the unmanned aerial vehicle access method of any one of claims 1 to 3, and is characterized in that: the garage comprises a cabin body (1), wherein the cabin body (1) is divided into a plurality of hangars which are arranged in an array, each hangar comprises a lifting device (2), a transverse moving device (3), a carrier device (4) and an access device (5), the lifting devices (2) are horizontally and linearly arranged in the hangars, a plurality of parking positions and a translation channel are arranged in the vertical linear array of each lifting device (2), a plurality of lifting windows (6) are arranged on the hangars, the lifting windows (6) are positioned at the lifting positions, the parking position closest to the lifting windows (6) is an operation position, the access device (5) is arranged on the operation position, at least one parking position in the hangars is vacant, the carrier devices (4) are arranged on the rest parking positions, the carrier devices (4) vertically move through the lifting devices (2), and the carrier devices (4) horizontally move in the translation channel through the transverse moving devices (3), the access device (5) moves to and from an operation position and a lifting position through the lifting device (2), and the unmanned aerial vehicle is stored or taken out of the carrier device (4) by the access device (5) at the operation position.
5. The stereoscopic unmanned aerial vehicle access device of claim 4, wherein: the automatic loading and unloading device is characterized by further comprising a roller assembly (7), wherein the roller assembly (7) is installed on the lifting device (2), the roller assembly (7) vertically moves through the lifting device (2), two rows of first rollers (71) are arranged on the roller assembly (7), the first rollers (71) vertically rotate, a translation channel is formed between the two rows of first rollers (71), and two ends of the loading device (4) are installed in the translation channel.
6. The stereoscopic unmanned aerial vehicle access device of claim 5, wherein: elevating gear (2) are including mounting bracket (21) and first servo motor (22) of the vertical setting of two symmetries, mounting bracket (21) both ends are rotated respectively and are connected with drive sprocket (23) and driven sprocket (24), drive sprocket (23) are rotated by first servo motor (22) drive, drive sprocket (23) and driven sprocket (24) are connected through chain (25) transmission, correspond a plurality of roller components (7) of stop position interval fixedly connected with on chain (25), vertical slide rail (211) that are provided with on mounting bracket (21), roller component (7) and slide rail (211) roll connection.
7. The stereoscopic unmanned aerial vehicle access device of claim 4, wherein: the automatic parking device is characterized in that an electric limiting device (26) is arranged on the lifting device (2) corresponding to the parking position, the electric limiting device (26) comprises a push rod bolt (261) and an electric push rod (262), the push rod bolt (261) is fixed at the end part of a telescopic rod of the electric push rod (262), and a first limiting hole (41) is arranged on the carrier device (4) corresponding to the push rod bolt (261).
8. The stereoscopic unmanned aerial vehicle access device of claim 4, wherein: the transverse moving device (3) comprises a support (31), a transverse moving driver (32) and an air cylinder (33), the transverse moving driver (32) comprises a friction wheel (321) and a second servo motor (322), the friction wheel (321) is driven by the second servo motor (322) to horizontally rotate, a guide rail (34) is arranged on the support (31), the transverse moving driver (32) is slidably mounted on the guide rail (34), the air cylinder (33) is fixed on the support (31), the end part of a piston rod of the air cylinder (33) is fixedly connected with the transverse moving driver (32), the piston rod freely extends under the normal state of the air cylinder (33), a spring (35) is arranged between the transverse moving driver (32) and the support (31) to enable the friction wheel (321) to abut against a carrier device (4) in a machine warehouse, and the air cylinder (33) controls the friction wheel (321) to separate from the carrier device through contraction of.
9. The stereoscopic unmanned aerial vehicle access device of claim 4, wherein: access arrangement (5) are including fork support plate (51), flexible fork (52) and third servo motor (53), and flexible fork (52) and third servo motor (53) are fixed respectively on fork support plate (51), and flexible fork (52) are by third servo motor (53) drive control to adjacent parking stall flexible, carrier device (4) are including carrying frame (42) and locking device (43), and a plurality of locking device (43) are fixed on carrying frame (42), offer on locking device (43) and are used for fixed unmanned aerial vehicle undercarriage (8) elasticity draw-in groove (431) and are used for unblock roof (432) of elasticity draw-in groove (431), and flexible fork (52) extend and withstand roof (432) and drive elasticity draw-in groove (431) unblock.
10. The stereoscopic unmanned aerial vehicle access device of claim 4, wherein: the electric cabinet (11) and the touch panel (12) are arranged on the cabin body (1), the wireless signal receiver and the wireless signal transmitter are arranged in the electric cabinet (11), and the touch panel (12), the lifting device (2), the transverse moving device (3), the carrying device (4) and the access device (5) are electrically connected with the electric cabinet (11) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011602353.0A CN112727216A (en) | 2020-12-29 | 2020-12-29 | Unmanned aerial vehicle access method and three-dimensional access equipment thereof |
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| CN202011602353.0A CN112727216A (en) | 2020-12-29 | 2020-12-29 | Unmanned aerial vehicle access method and three-dimensional access equipment thereof |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113431409A (en) * | 2021-07-12 | 2021-09-24 | 上海天地岛川停车设备制造有限公司 | Unmanned aerial vehicle hangar |
| CN113581483A (en) * | 2021-09-07 | 2021-11-02 | 董会丽 | Unmanned aerial vehicle's group transmission system |
-
2020
- 2020-12-29 CN CN202011602353.0A patent/CN112727216A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113431409A (en) * | 2021-07-12 | 2021-09-24 | 上海天地岛川停车设备制造有限公司 | Unmanned aerial vehicle hangar |
| CN113581483A (en) * | 2021-09-07 | 2021-11-02 | 董会丽 | Unmanned aerial vehicle's group transmission system |
| CN113581483B (en) * | 2021-09-07 | 2023-11-14 | 莱奎尼(上海)智能科技有限公司 | Group transmitting system of unmanned aerial vehicle |
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