CN115783293A - Automatic transporter garage and automatic transporting method - Google Patents

Abstract

The application discloses an automatic conveying hangar and an automatic conveying method. The automatic transporter garage comprises a garage body, at least one bearing piece, a lifting device and a transporting device. The bearing part comprises a bearing frame and a bearing rail, wherein the bearing frame is connected with the warehouse body, and the bearing rail is positioned below the bearing frame. The lifting device comprises a support connected with the warehouse body, a sliding piece connected with the support in a sliding manner and a lifting track connected with the sliding piece. The carrying device comprises a moving assembly and a lifting assembly connected with the moving assembly. The slider moves to predetermineeing the butt joint position, make lift track and a bearing track butt joint, make the removal subassembly can remove between bearing spare and elevating gear, the lifting subassembly removes when predetermineeing the take-off and landing position or predetermineeing the parking position at the removal subassembly, lifting unmanned aerial vehicle, the removal subassembly removes again, thereby can be with unmanned aerial vehicle in predetermineeing the take-off and landing position with predetermineeing the transport of making a round trip between the parking position, need not the manual work and carry unmanned aerial vehicle, take off and recovery efficiency in order to improve unmanned aerial vehicle.

Description

Automatic transporter garage and automatic transporting method

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an automatic conveying hangar and an automatic conveying method.

Background

Along with the progress of society, unmanned aerial vehicle has gradually popularized from the military field to the civilian field, including branch fields such as commodity circulation, survey and drawing, plant protection, photography, electric power, communication or rescue, has realized good technological overflow and social, economic benefits. However, in the prior art, the take-off and recovery of the unmanned aerial vehicle are both performed in the airport, and the unmanned aerial vehicle needs to be manually transported from the airport to the warehouse or from the warehouse to the airport, so that the take-off and recovery efficiency of the unmanned aerial vehicle is low.

Disclosure of Invention

The application provides an automatic carrying hangar and an automatic carrying method, which aim to solve the problem that in the prior art, unmanned aerial vehicles are carried between an airport and a warehouse manually, so that the take-off and recovery efficiency of the unmanned aerial vehicles is low.

In one aspect, the application provides an automatic handler hangar for hold unmanned aerial vehicle, automatic handler hangar includes: the warehouse comprises a warehouse body, and at least one bearing piece, a lifting device and a carrying device which are positioned in the warehouse body;

the bearing parts comprise bearing parts and bearing rails, wherein the bearing parts are connected with the storehouse body, and the bearing rails are positioned below the bearing parts;

the lifting device comprises a support connected with the storehouse body, a sliding part connected with the support in a sliding manner, and a lifting track connected with the sliding part;

the sliding piece is used for moving to a preset butt joint position to enable the lifting track to be in butt joint with one bearing track;

the carrying device comprises a moving assembly and a lifting assembly, wherein the moving assembly is used for moving on the bearing track and the lifting track, and the lifting assembly is connected with the moving assembly;

the lifting subassembly is used for when the removal subassembly removes to predetermineeing the take-off and landing position or predetermineeing the parking position, along being close to be located predetermineeing the take-off and landing position or predetermineeing the parking position unmanned aerial vehicle's direction motion, with the lifting unmanned aerial vehicle.

In some possible implementations, the lifting assembly includes two driving members connected to and disposed opposite to the moving assembly, and two lifting plates connected to the two driving members, respectively.

In some possible implementations, the driving member includes a cylinder connected to the moving assembly, and a piston rod movably connected to the cylinder, and the piston rod is connected to the lifting plate.

In some possible implementations, the moving assembly includes a bottom plate, two side plates connected to and disposed opposite to the bottom plate, and a plurality of rolling members connected to a side of the bottom plate away from the side plates, and the two driving members are respectively connected to the two side plates.

In some possible implementations, the number of the bearing rails in one bearing member is two, and the two bearing rails are respectively located at two sides of the bearing member and are used for bearing a plurality of rolling members.

In some possible implementations, the lifting device further includes a conveying member connected to the sliding member, and the warehouse body has a goods entrance and exit;

the conveying piece is used for being in butt joint with the goods entrance and exit when the sliding piece is located at the preset butt joint position.

In some possible implementations, the number of the carriers in one carrier is two, and the two carriers are arranged at intervals;

the conveying piece is used for extending between the two bearing frames when the sliding piece is located at the preset butt joint position.

In some possible implementations, the carrier may further include two mounting brackets connected to both ends of the carrier, respectively, and both of the mounting brackets are connected to the library body;

the lifting assembly is used for moving along the direction away from the unmanned aerial vehicle when the moving assembly moves to the preset temporary storage position, so that the unmanned aerial vehicle is abutted to the conveying piece.

In some possible implementations, the conveying element includes a conveying line connected to the sliding element, and a stopper connected to the conveying line, the stopper being located at an end of the conveying line near the carrier.

In some possible implementations, the automatic handler library further includes a battery compartment and a manipulator connected to the library body, and the manipulator is located above the bearing member and used for replacing a battery in the battery compartment with a battery in the unmanned aerial vehicle.

On the other hand, the present application also provides an automatic conveying method applied to the automatic conveyor library, including:

the moving assembly moves to the lifting track, and the sliding piece moves to a preset butt joint position, so that the lifting track is in butt joint with one bearing track;

the moving assembly moves to a preset taking-off and landing position, and the lifting assembly moves in the direction close to the unmanned aerial vehicle at the preset taking-off and landing position to lift the unmanned aerial vehicle;

the movable assembly moves to a preset stop position, and the lifting assembly moves in the direction away from the unmanned aerial vehicle, so that the unmanned aerial vehicle is abutted to the bearing frame.

The application provides an automatic carrier storehouse includes the storehouse body, and is located at least one carrier, elevating gear and handling device in the storehouse body. The bearing part comprises a bearing frame and a bearing rail, wherein the bearing frame is connected with the warehouse body, and the bearing rail is positioned below the bearing frame. The lifting device comprises a support connected with the warehouse body, a sliding part connected with the support in a sliding manner, and a lifting track connected with the sliding part. The carrying device comprises a moving assembly and a lifting assembly, wherein the moving assembly is used for moving on the bearing track and the lifting track, and the lifting assembly is connected with the moving assembly. The slider is used for moving to predetermineeing the butt joint position, make lift track and a bearing rail butt joint, thereby make the removal subassembly can remove between carrier and elevating gear, the lifting subassembly is used for moving when predetermineeing take-off and landing position or predetermineeing the parking position at the removal subassembly, along being close to the direction motion that is located the unmanned aerial vehicle of predetermineeing take-off and landing position or predetermineeing the parking position, with lifting unmanned aerial vehicle, make unmanned aerial vehicle not with bearing the butt, the removal subassembly removes again, thereby can with unmanned aerial vehicle at predetermineeing the take-off and landing position with predetermineeing the back and forth transport between the parking position, and then can realize the take-off and the recovery operation of unmanned aerial vehicle in the storehouse body, need not the manual work and carry unmanned aerial vehicle, in order to improve unmanned aerial vehicle take off and recovery efficiency.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.

FIG. 1 is a schematic view of an exemplary automated handler library from a first perspective;

FIG. 2 is a second perspective view of an automated handler library according to one embodiment of the present application;

FIG. 3 is a schematic illustration of the elevator assembly, carrier and handler assembly of the automated handler library according to one embodiment of the present application;

FIG. 4 is a front view of FIG. 3;

fig. 5 is a schematic view of a lifting device of an automated transporter garage according to an embodiment of the present application;

fig. 6 is a schematic view of a conveying apparatus of an automated conveyor garage according to an embodiment of the present application;

fig. 7 is a flowchart of an automatic handling method according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, 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, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present application, it should be noted that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The automatic conveying hangar can be used for accommodating the unmanned aerial vehicle, the hangar can store the unmanned aerial vehicle, and the unmanned aerial vehicle can take off in the hangar. The slider in this automatic carrier storehouse can move to predetermineeing the butt joint position, make lift track and a bearing track butt joint, thereby make the removal subassembly can remove between carrier and elevating gear, the lifting subassembly is when the removal subassembly removes to predetermineeing the take-off and landing position or predetermineeing the parking position, along being located the direction motion of the unmanned aerial vehicle of predetermineeing the take-off and landing position or predetermineeing the parking position, with lifting unmanned aerial vehicle, make unmanned aerial vehicle not with bearing the butt, the removal subassembly removes again, thereby can be with unmanned aerial vehicle predetermineeing the take-off and landing position and predetermine the parking position between transport back and forth, and then can realize the take-off and the recovery operation of unmanned aerial vehicle in the storehouse body, need not the manual work and carry unmanned aerial vehicle, take off and recovery efficiency with the improvement unmanned aerial vehicle.

Referring to fig. 1 to 6, in an embodiment of the present application, an automatic handler magazine for accommodating a drone 100 is provided, including: the warehouse comprises a warehouse body 1, and at least one bearing piece 2, a lifting device 3 and a carrying device 4 which are positioned in the warehouse body 1;

the carrier 2 comprises a carrier 21 connected with the library body 1 and a carrier rail 22, and the carrier rail 22 is positioned below the carrier 21;

the lifting device 3 comprises a bracket 31 connected with the storehouse body 1, a sliding part 32 connected with the bracket 31 in a sliding way, and a lifting track 33 connected with the sliding part 32;

the sliding member 32 is used for moving to a preset butt joint position, so that the lifting rail 33 is butted with one bearing rail 22;

the carrying device 4 comprises a moving assembly 41 for moving on the bearing rail 22 and the lifting rail 33, and a lifting assembly 42 connected with the moving assembly 41;

the lifting assembly 42 is configured to move in a direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position or the preset stop position when the moving assembly 41 moves to the preset take-off and landing position or the preset stop position, so as to lift the unmanned aerial vehicle 100.

It should be noted that the carrier 21 is used for carrying the drone 100. The sliding member 32 can move to a preset docking position, the lifting rail 33 is docked with one bearing rail 22, the moving assembly 41 can move to the lifting rail 33 and lift along the lifting rail 33, so that the moving assembly 41 can move between the bearing member 2 and the lifting device 3, when the moving assembly 41 moves to a preset take-off and landing position or a preset stopping position, the preset take-off and landing position is a position where the unmanned aerial vehicle 100 takes off and lands, the preset stopping position is a position where the unmanned aerial vehicle 100 is stored, the moving assembly moves in a direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position or the preset stopping position, so as to lift the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 does not abut against the bearing frame 21, the moving assembly 41 moves again, after the moving to the preset take-off and landing position or the preset stopping position, the lifting assembly 42 moves in a direction away from the unmanned aerial vehicle 100, so as to abut against the bearing frame 21, so that the unmanned aerial vehicle 100 can move back and forth between the preset take-off and landing position and the preset stopping position, so as to achieve the recovery operation of the unmanned aerial vehicle 100 in the warehouse body 1, the unmanned aerial vehicle 100 without manual taking off and the recovery efficiency, and the taking off and the recovery efficiency are improved.

In this embodiment, it can be one to hold carrier 2, has the one deck in the hangar promptly and holds the layer, predetermines the shut down position and sets up in this one deck holds the layer, predetermines the take-off and landing position and can also set up in this one deck holds the layer, perhaps, still has the take-off and landing platform that is located carrier 2 top in the storehouse body 1, predetermines the take-off and landing position and can set up on the take-off and landing platform, and at this moment, when slider 32 moved to predetermine docking position, still can make lift track 33 dock with the take-off and landing platform.

In this embodiment, the carrier 2 may be multiple, the lifting device 3 is located on one side of the multiple carriers 2, the multiple carriers 2 are sequentially arranged along the vertical direction, which is equivalent to a hangar having multiple accommodating layers for storing the unmanned aerial vehicle 100, wherein the carrier 2 located on the uppermost layer has a preset lifting position, that is, the carrier 2 located on the uppermost layer may be a lifting platform, and the carriers 2 located on other layers have multiple preset stop positions.

The following illustrates the work flow of the automated transporter hangar recovery drone 100 of the present application by way of multiple carriers 2:

the moving assembly 41 moves to the lifting rail 33, and the sliding member 32 moves to a preset butt joint position, so that the lifting rail 33 is in butt joint with one bearing rail 22 corresponding to the preset lifting position;

the moving assembly 41 moves to the preset take-off and landing position, and the lifting assembly 42 moves in the direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position to lift the unmanned aerial vehicle 100;

the moving assembly 41 moves to the lifting rail 33, and the sliding member 32 moves to a preset butting position, so that the lifting rail 33 is butted with one bearing rail 22 corresponding to a preset stopping position;

remove subassembly 41 and remove to predetermineeing the parking position, lifting assembly 42 moves along the direction of keeping away from unmanned aerial vehicle 100 to make unmanned aerial vehicle 100 and bear frame 21 butt, thereby realize carrying unmanned aerial vehicle 100 to predetermineeing the parking position from predetermineeing the take-off and landing position, in order to retrieve unmanned aerial vehicle 100.

In addition, the workflow of the unmanned aerial vehicle 100 taking off in the automatic carrier garage is different from the workflow of the unmanned aerial vehicle 100 recovered in the automatic carrier garage in that: remove subassembly 41 and remove to predetermineeing the parking position, lifting subassembly 42 moves along the direction that is close to the unmanned aerial vehicle 100 that is located predetermineeing the parking position, with lifting unmanned aerial vehicle 100, remove subassembly 41 and remove to predetermineeing the take-off and landing position, lifting subassembly 42 moves along the direction of keeping away from unmanned aerial vehicle 100, so that unmanned aerial vehicle 100 and carrier 21 butt, thereby realize carrying unmanned aerial vehicle 100 to predetermineeing the take-off and landing position from predetermineeing the parking position, so that unmanned aerial vehicle 100 can take off at predetermineeing the take-off and landing position.

In this embodiment, the sliding member 32 may include at least one guide rail connected to the bracket 31, and a slider slidably connected to the guide rail, the guide rail extending in the vertical direction, and the slider being movable on the guide rail in the vertical direction. The guide rail can be an electric guide rail to drive the sliding block to slide.

In this embodiment, the number of the preset docking positions is plural and is the same as the number of the carriers 2, that is, each preset docking position corresponds to one carrier 2, and the sliding member 32 can be sequentially moved to the plural preset docking positions, so that the lifting rail 33 is sequentially docked with the plural carrier rails 22, thereby realizing that the lifting rail 33 is docked with all the carrier rails 22.

In this embodiment, the top end of the storehouse body 1 is provided with a drone 100 entrance for the drone 100 to take off or land. In addition, the top of the storehouse body 1 can also set up the switch door structure, and this switch door structure can open or close unmanned aerial vehicle 100 access & exit.

In some embodiments, referring to fig. 3, 4 and 6, the lifting assembly 42 includes two driving members 421 connected to and opposite to the moving assembly 41, and two lifting plates 422 connected to the two driving members 421, respectively. The driving piece 421 can drive and lift along vertical direction lift board 422 to make lift board 422 lift unmanned aerial vehicle 100 or make unmanned aerial vehicle 100 descend, and two driving pieces 421 can drive two simultaneously and lift board 422, two lift board 422 with unmanned aerial vehicle 100 butt simultaneously, can improve the equilibrium of carrying unmanned aerial vehicle 100, prevent that unmanned aerial vehicle 100 from toppling over, and then improve unmanned aerial vehicle 100 and take off and recovery efficiency.

In this embodiment, the number of the driving members 421 may be greater than two, and a plurality of the driving members 421 are connected to one lifting plate 422, for example, the number of the driving members 421 may be four, and each two driving members 421 drive one lifting plate 422, so as to improve the balance of the movement of the lifting plates 422 and improve the bearing capacity of the lifting assembly 42.

In this embodiment, the driving member 421 includes a cylinder connected to the moving assembly 41, and a piston rod movably connected to the cylinder and connected to the lifting plate 422. This cylinder body can drive piston rod along vertical direction is flexible to drive and lift board 422 along vertical direction motion, and cylinder body and piston rod can bear unmanned aerial vehicle 100's weight, can carry unmanned aerial vehicle 100 with guaranteeing handling device 4.

In this embodiment, the cylinder may be a pneumatic or hydraulic cylinder. An accommodating groove can be formed in the moving assembly 41, the cylinder body can be located in the accommodating groove, and the piston rod extends to the outside of the moving assembly 41.

In this embodiment, referring to fig. 3, 4 and 6, the moving assembly 41 includes a bottom plate 411, two side plates 412 connected to and disposed opposite to the bottom plate 411, and a plurality of rolling members 413 connected to a side of the bottom plate 411 away from the side plates 412, wherein the two driving members 421 are respectively connected to the two side plates 412. This rolling member 413 can move on bearing track 22 and lift track 33, and the shape of bottom plate 411 and two curb plates 412 can be for type "U" font, and two curb plates 412 make two driving pieces 421 relative settings to two driving pieces 421 drive two both ends that lift board 422 lift unmanned aerial vehicle 100, improve unmanned aerial vehicle 100's transport stability.

In addition, the bearing rail 22 and the lifting rail 33 have grooves therein, in which the rolling members 413 can move, and the grooves can also guide and limit the rolling members.

In this embodiment, the rolling members 413 may be rollers, and the moving assembly 41 further includes a driving motor connected to the plurality of rolling members 413 to drive the rolling members 413 to rotate.

In this embodiment, the number of the bearing rails 22 in one bearing 2 is two, and two bearing rails 22 are respectively located at two sides of the bearing frame 21 for bearing a plurality of rolling members 413. That is, the number of the lifting tracks 33 is also two, the two lifting tracks 33 can be butted with the two bearing tracks 22, and the plurality of rolling members 413 can be arranged in two rows and in a straight line, and are respectively located in the two bearing tracks 22 or the two lifting tracks 33, so that the motion stability of the moving assembly 41 can be improved. Moreover, part of the arms of the unmanned aerial vehicle 100 can extend to the outside of the bearing frame 21 in the horizontal direction, the two bearing rails 22 are respectively located at the two sides of the bearing frame 21, and then the two side plates 412 are also located at the two sides of the bearing frame 21, so that the two lifting plates 422 can be abutted to the arms at the two sides of the unmanned aerial vehicle 100 at the same time, thereby improving the carrying stability of the unmanned aerial vehicle 100.

In addition, since the bearing rail 22 is located below the bearing frame 21, when the moving assembly 41 moves on the bearing rail 22, the bottom plate 411 is located between the bearing rail 22 and the bearing frame 21.

In addition, can also be equipped with the draw-in groove that corresponds lifting plate 422 on unmanned aerial vehicle 100's the horn, when lifting plate 422 and horn butt, lifting plate 422 can be arranged in the draw-in groove, carries on spacingly to lifting plate 422 through the draw-in groove to further improve unmanned aerial vehicle 100's transport stability.

In this embodiment, the two carrying rails 22 are parallel to each other. The two lifting rails 33 are also parallel to each other. When the bearing rail 22 is abutted with the lifting rail 33, the bearing rail 22 and the lifting rail 33 are positioned on the same straight line.

In some embodiments, referring to fig. 3 to 5, the lifting device 3 further includes a conveying element 34 connected to the sliding element 32, the storage body 1 has a cargo entrance and exit, the conveying element 34 is configured to be abutted to the cargo entrance and exit when the sliding element 32 is located at the preset abutting position, when the carrying device 4 lifts the drone 100 and moves onto the lifting track 33, the drone 100 is located above the conveying element 34, the drone 100 can place the cargo carried by the drone on the conveying element 34, and the conveying element 34 transports the cargo from the cargo entrance and exit to the outside of the storage to unload the drone 100, or the conveying element 34 can transport the cargo from the cargo entrance and exit to the below of the drone 100 to carry the cargo on the drone 100 to load the drone 100. The conveyance member 34 can realize loading and unloading of the drone 100 during the transportation of the drone 100, thereby improving the practicability of the automatic transporter garage.

In this embodiment, the number of the cargo gateway may be plural, and when the lifting rail 33 is butted against different carrying rails 22, the conveying member 34 may be butted against different cargo gateways, so that loading and unloading of the unmanned aerial vehicle 100 can be realized when the conveying device 4 conveys the unmanned aerial vehicle 100 to different carrying members 2.

In this embodiment, the conveying member 34 is located above the lifting rail 33, and the two lifting rails 33 are located at both sides of the conveying member 34, the bottom plate 411 may move onto the lifting rail 33 from the gap between the conveying member 34 and the lifting rail 33, and the two side plates 412 may be located at both sides of the conveying member 34, respectively, so that the conveying member 34 may be prevented from interfering with the movement of the moving assembly 41.

In this embodiment, the number of the carrying frames 21 in one carrying member 2 is two, the two carrying frames 21 are arranged at intervals, and the conveying member 34 is used for extending to between the two carrying frames 21 when the sliding member 32 is located at the preset butt joint position, so that the carrying device 4 lifts the unmanned aerial vehicle 100 and moves to a position where the unmanned aerial vehicle 100 is located above the conveying member 34 on the carrying rail 22, so as to realize loading and unloading of the unmanned aerial vehicle 100, without moving the carrying device 4 to the lifting rail 33, and further improve the practicability of the automatic transporter library.

In this embodiment, the carrier 2 further includes a mounting bracket 23 connected to an end of the carrier 21 remote from the lifting device 3, and the mounting bracket 23 is connected to the storage body 1, so that the connection between the carrier 21 and the storage body 1 is achieved, and the mounting bracket 23 is prevented from catching the arm of the drone 100 when the carrying device 4 has lifted the drone 100 and moved toward the lifting rail 33.

Alternatively, in order to improve the carrying capacity of the carrying frame 21, the carrying frame 2 may further include two mounting frames 23 respectively connected to both ends of the carrying frame 21, and both the two mounting frames 23 are connected to the library body 1. That is, the one end of the carrier 21 close to the lifting device 3 and the one end far away from the lifting device 3 are both provided with the mounting rack 23, and when the carrying device 4 has lifted the unmanned aerial vehicle 100 and moved to the lifting track 33, the mounting rack 23 blocks the arm of the unmanned aerial vehicle 100, so, in the carrying process of the unmanned aerial vehicle 100, the lifting component 42 is used for moving in the direction far away from the unmanned aerial vehicle 100 when the moving component 41 moves to the preset temporary storage position, so that the unmanned aerial vehicle 100 abuts against the conveying member 34. The predetermined temporary storage position is a position where the moving assembly 41 is located on the carrying rail 22 and directly below the conveying member 34. That is to say, the carrying device 4 can place the unmanned aerial vehicle 100 on the conveying member 34 between the two bearing frames 21, so that the unmanned aerial vehicle 100 is temporarily stored on the conveying member 34, and the carrying device 4 moves to the lifting rail 33, so that the carrying device 4 and the unmanned aerial vehicle 100 can lift along with the sliding member 32, and the subsequent carrying device 4 carries the unmanned aerial vehicle 100 to the preset lifting position or the preset stop position.

The following illustrates the workflow of the automated transporter garage recycling drone 100:

the moving assembly 41 moves to the lifting rail 33, and the sliding member 32 moves to a preset butt joint position, so that the lifting rail 33 is in butt joint with one bearing rail 22 corresponding to the preset lifting position;

the moving assembly 41 moves to a preset take-off and landing position, and the lifting assembly 42 moves in a direction close to the unmanned aerial vehicle 100 located at the preset take-off and landing position to lift the unmanned aerial vehicle 100;

the moving assembly 41 moves to a preset temporary storage position, and the lifting assembly 42 moves in a direction away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 abuts against the conveying member 34;

the moving assembly 41 moves onto the lifting track 33, and the sliding member 32 moves to a preset butt joint position, so that the lifting track 33 is in butt joint with one bearing track 22 corresponding to a preset stop position;

the moving assembly 41 moves to the preset temporary storage position, and the lifting assembly 42 moves in a direction close to the unmanned aerial vehicle 100 on the conveying member 34 to lift the unmanned aerial vehicle 100;

remove subassembly 41 and remove to predetermineeing the parking position, lifting subassembly 42 is along the direction motion of keeping away from unmanned aerial vehicle 100 to make unmanned aerial vehicle 100 with bear 21 butt, thereby realize carrying unmanned aerial vehicle 100 to predetermineeing the parking position from predetermineeing the take off and land position, in order to retrieve unmanned aerial vehicle 100.

In this embodiment, the mounting frame 23 includes a first frame 231 coupled to the carriage 21 and extending in a vertical direction, and a second frame 232 coupled to the first frame 231 and extending in a horizontal direction, the second frame 232 being coupled to the magazine 1. This first support body 231 and second support body 232 are "L" shape setting, when handling device 4 moves to lift track 33, make curb plate 412 can follow second support body 232 below and pass through, can avoid mounting bracket 23 to block handling device 4's motion.

In this embodiment, referring to fig. 3 to 5, the conveying element 34 includes a conveying line 341 connected to the sliding element 32, and a blocking element 342 connected to the conveying line 341, the blocking element 342 is located at an end of the conveying line 341 close to the carrier 2, when the conveying line 341 conveys the goods in a direction close to the carrier 2, the blocking element 342 can block the goods to prevent the goods from falling off from the conveying line 341, and the position of the blocking element 342 can further limit the position of the goods, so as to ensure that the goods can be located at a position where the unmanned aerial vehicle 100 is convenient to carry the goods, so as to further improve the practicability of the automatic handler library.

In this embodiment, the stopper 342 may be a stopper or a stopper connected to the transfer wire 341 and extending in a vertical direction. The conveying line 341 may be a belt conveyor, a roller conveyor, or a chain conveyor, as long as it is a mechanism capable of transporting goods, and the present application is not limited herein.

In some embodiments, referring to fig. 1 and 2, the automated transporter garage further includes a battery compartment 5 connected to the garage body 1 and a manipulator 6, wherein the manipulator 6 is located above the carrier 2 for replacing the battery in the battery compartment 5 with the battery in the drone 100. That is, a plurality of batteries are stored in the battery compartment 5, and the battery compartment 5 may be further connected to an external power supply device to charge the plurality of stored batteries. The battery among unmanned aerial vehicle 100 can be installed in unmanned aerial vehicle 100's top and be connected with unmanned aerial vehicle 100's top buckle, and this manipulator 6 can move on a plurality of degrees of freedom, can snatch the battery among unmanned aerial vehicle 100 earlier, places in battery compartment 5, snatchs the battery that has been full of in the battery compartment 5 again, places at unmanned aerial vehicle 100's top and blocks to realize the battery and change, with the practicality that further improves the automatic carrier storehouse.

In this embodiment, referring to fig. 1 and 2, in order to facilitate the battery replacement of the robot 6, the automated transporter library further includes a moving frame 7 movably connected to the library body 1, the robot 6 is connected to the moving frame 7, the moving frame 7 is also located above the carrier 2, and the moving frame 7 can move on the library body 1.

In addition, the storehouse body 1 can be provided with a slide rail, the movable frame 7 can be connected with the slide rail in a sliding manner, and the manipulator 6 can be connected with the movable frame 7 in a sliding manner.

In this embodiment, the robot 6 may include a robot arm that is movable in multiple degrees of freedom and a gripper coupled to the robot arm that may grasp the battery.

In this embodiment, a plurality of battery compartments 5, a plurality of manipulators 6 and a plurality of moving racks 7 may be provided according to the actual situation, and one battery compartment 5, one manipulator 6 and one moving rack 7 are combined into one battery exchange assembly, and each battery exchange assembly is located above one carrier 2.

Referring to fig. 7, based on the automatic handler library, the present application further provides an automatic handling method applied to the automatic handler library, the automatic handling method includes:

step S1, moving the moving assembly 41 to the lifting rail 33, and moving the sliding member 32 to a preset butt joint position to butt joint the lifting rail 33 with one bearing rail 22;

step S2, the moving component 41 moves to a preset taking-off and landing position, and the lifting component 42 moves in the direction close to the unmanned aerial vehicle 100 located at the preset taking-off and landing position to lift the unmanned aerial vehicle 100;

step S3, the moving assembly 41 moves to a preset stop position, and the lifting assembly 42 moves in a direction away from the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 abuts against the bearing frame 21.

It should be noted that the automatic carrying method can carry the unmanned aerial vehicle 100 back and forth between the preset take-off and landing position and the preset stop position, so that the take-off and recovery operation of the unmanned aerial vehicle 100 in the warehouse 1 can be realized, the unmanned aerial vehicle 100 does not need to be carried manually, and the take-off and recovery efficiency of the unmanned aerial vehicle 100 can be improved.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and parts that are not described in detail in a certain embodiment may refer to the above detailed descriptions of other embodiments, which are not described herein again.

In a specific implementation, each component or structure may be implemented as an independent entity, or may be combined arbitrarily and implemented as one or several entities, and the specific implementation of each component or structure may refer to the foregoing embodiments, which are not described herein again.

The automatic conveyor library and the automatic conveying method provided by the embodiment of the invention are described in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.

Claims (11)

1. An automatic carrier garage for housing an unmanned aerial vehicle, comprising: the warehouse comprises a warehouse body, and at least one bearing piece, a lifting device and a carrying device which are positioned in the warehouse body;

the bearing part comprises a bearing frame and a bearing rail which are connected with the storehouse body, and the bearing rail is positioned below the bearing frame;

the lifting device comprises a support connected with the storehouse body, a sliding part connected with the support in a sliding manner, and a lifting track connected with the sliding part;

the sliding piece is used for moving to a preset butt joint position to enable the lifting track to be in butt joint with one bearing track;

the carrying device comprises a moving assembly and a lifting assembly, wherein the moving assembly is used for moving on the bearing track and the lifting track, and the lifting assembly is connected with the moving assembly;

the lifting subassembly is used for when the removal subassembly removes to predetermineeing the position of taking off and land or predetermineeing the parking position, along being close to and being located the position of predetermineeing the position of taking off and land or predetermineeing the parking position unmanned aerial vehicle's direction motion, with the lifting unmanned aerial vehicle.

2. The automated handler library of claim 1, wherein the lift assembly comprises two driving members connected to and disposed opposite the moving assembly, and two lift plates connected to the two driving members, respectively.

3. The automated handler library of claim 2, wherein the actuator comprises a cylinder connected to the movement assembly and a piston rod movably connected to the cylinder, the piston rod being connected to the lift plate.

4. The automated handler library of claim 2, wherein the moving assembly comprises a base plate, two side plates coupled to and disposed opposite the base plate, and a plurality of rolling elements coupled to a side of the base plate remote from the side plates, and two of the actuating elements are coupled to the two side plates, respectively.

5. The automated handler library of claim 4, wherein the number of the carrying rails in one of the carriers is two, and two of the carrying rails are respectively located at both sides of the carrier for carrying a plurality of the rolling members.

6. The automated handler library according to any one of claims 1 to 5, wherein the elevating means further comprises a conveying member connected to the slide member, the library body having a goods entrance/exit;

and the conveying piece is used for butting with the goods entrance and exit when the sliding piece is positioned at a preset butting position.

7. The automated handler library of claim 6, wherein the number of carriers in one carrier is two, and two carriers are spaced apart;

the conveying piece is used for extending between the two bearing frames when the sliding piece is located at the preset butt joint position.

8. The automated handler garage of claim 7, wherein the carrier further comprises two mounting brackets attached to each end of the carrier, both of the mounting brackets being attached to the garage body;

the lifting assembly is used for moving the moving assembly to a preset temporary storage position and moving along the direction away from the unmanned aerial vehicle so that the unmanned aerial vehicle is abutted to the conveying piece.

9. The automated handler garage of claim 6, wherein the conveyor member includes a conveyor line connected to the slide member, and a stop member connected to the conveyor line, the stop member being located at an end of the conveyor line adjacent to the carriers.

10. The automated handler library of any one of claims 1 to 5, further comprising a battery bay and a robot connected to the library body, the robot being located above the carrier for replacing a battery in the battery bay with a battery in the drone.

11. An automatic conveying method applied to the automatic conveyor library according to any one of claims 1 to 10, the method comprising:

the moving assembly moves to the lifting track, and the sliding piece moves to a preset butt joint position, so that the lifting track is in butt joint with one bearing track;

the moving assembly moves to a preset taking-off and landing position, and the lifting assembly moves in the direction close to the unmanned aerial vehicle at the preset taking-off and landing position to lift the unmanned aerial vehicle;

the movable assembly moves to a preset stop position, and the lifting assembly moves in the direction away from the unmanned aerial vehicle, so that the unmanned aerial vehicle is abutted to the bearing frame.

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