CN220905361U - Replenishment device and replenishment system - Google Patents

Abstract

The utility model provides a replenishing device and a replenishing system, wherein the replenishing device comprises: the machine body is provided with a feeding station and a waiting station; the conveying mechanism is arranged on the machine body and communicated with the feeding station and the waiting station, and is used for conveying the energy storage element from the waiting station to the feeding station; the limiting mechanism is arranged on the machine body in a switchable manner between a first state and a second state and comprises a first limiting piece and a second limiting piece, and when the limiting mechanism is in the first state, the limiting mechanism limits the energy storage piece at the feeding station and releases the limit of the energy storage piece at the waiting station; when the limiting mechanism is in the second state, the limiting mechanism releases the limit of the energy storage piece at the feeding station and limits the energy storage piece at the waiting station. According to the replenishing device, the limiting mechanism can enable the energy storage piece filled with energy to stand by at the waiting station, so that the time for conveying the energy storage piece to the conveying mechanism is saved, and the replenishing efficiency is improved.

Description

Replenishment device and replenishment system

Technical Field

The utility model relates to the technical field of unmanned aerial vehicles, in particular to a replenishing device and a replenishing system.

Background

The existing unmanned aerial vehicle is poor in general endurance, when the electric quantity of the unmanned aerial vehicle is low, a vehicle-mounted platform, a fixed platform and the like can be adopted for charging or replacing a battery, however, the process of the unmanned aerial vehicle going back and forth the platform is long in time consumption, working time gaps are large, waste is caused to the endurance of the unmanned aerial vehicle, and the supply efficiency is low; the unmanned aerial vehicle can be charged in the air in a non-contact mode by the aid of the method, but charging in the air is difficult, charging time is long, and supply efficiency is low.

Disclosure of utility model

The utility model provides a new technical scheme of a replenishing device, which at least can solve the problem of low efficiency when replenishing an unmanned aerial vehicle in the prior art.

The utility model also provides a replenishing system which comprises the replenishing device.

According to a first aspect of the present utility model, there is provided a replenishment device comprising: the machine body is provided with a feeding station and a waiting station; the conveying mechanism is arranged on the machine body and communicated with the feeding station and the waiting station, and is used for conveying the energy storage element from the waiting station to the feeding station; the limiting mechanism is arranged on the machine body in a switchable manner between a first state and a second state; when the limiting mechanism is in the first state, the limiting mechanism limits the energy storage piece at the feeding station and releases the limit of the energy storage piece at the waiting station; when the limiting mechanism is in the second state, the limiting mechanism releases the limit of the energy storage piece at the feeding station and limits the energy storage piece at the waiting station.

Optionally, the limiting mechanism includes a first limiting member and a second limiting member, the first limiting member is disposed at the feeding station, the second limiting member is disposed at the waiting station, when the limiting mechanism is in the first state, the first limiting member limits the energy storage member at the feeding station, and the second limiting member releases the limit of the energy storage member at the waiting station; when the limiting mechanism is in the second state, the first limiting part releases limiting of the energy storage part in the feeding station, and the second limiting part limits the energy storage part in the waiting station.

Optionally, the limiting mechanism further includes: the linkage assembly is respectively connected with the first limiting piece and the second limiting piece and respectively drives the first limiting piece and the second limiting piece to move in opposite directions; and the limiting driving piece is connected with the linkage assembly to drive the linkage assembly to move.

Optionally, the linkage assembly includes: the first bevel gear is connected with the first limiting piece, and the axis of the first bevel gear extends along a first direction; the second bevel gear is connected with the second limiting piece, and the axis of the second bevel gear extends along the first direction; and the third bevel gear is respectively meshed with the first bevel gear and the second bevel gear, is connected with the limit driving piece and can rotate around the axis of the limit driving piece under the driving of the limit driving piece, so that the first bevel gear and the second bevel gear rotate in opposite directions.

Optionally, the feeding station and the waiting station are spaced apart in a first direction, the replenishment device further comprising: the lifting mechanism is arranged at the feeding station and can lift along a second direction, so that the energy storage part on the conveying mechanism is lifted and conveyed to the unmanned aerial vehicle, or the energy storage part is received from the unmanned aerial vehicle and conveyed to the conveying mechanism, and the first direction is vertical to the second direction.

Optionally, the conveying mechanism comprises two guide rails extending along the first direction, the two guide rails are spaced apart in a third direction, the lifting mechanism is located between the two guide rails, and the third direction, the first direction and the second direction are perpendicular to each other.

Optionally, the lifting mechanism includes: a lift table movable along the second direction between a first position and a second position, the lift table being lower than the conveying mechanism when the lift table is in the first position and higher than the conveying mechanism when the lift table is in the second position; and the lifting driving piece is connected with the lifting table so as to drive the lifting table to move between the first position and the second position.

Optionally, the lifting platform has a hollowed-out part, and the replenishing device further includes: the lifting mechanism is arranged on the machine body and is positioned at the bottom side of the lifting platform, and at least one part of the lifting mechanism is movable along the second direction so as to penetrate through the hollowed-out part and relieve the limit of the limit structure of the unmanned aerial vehicle on the energy storage part.

Optionally, a storage bin and a recovery bin are arranged in the machine body, in the conveying direction of the conveying mechanism, the storage bin is arranged at the upstream of the waiting station so as to release the energy storage piece to the conveying mechanism, and the recovery bin is arranged at the downstream of the feeding station so as to receive the energy storage piece from the conveying mechanism.

Optionally, the storage silo with retrieve the storehouse respectively be located conveying mechanism's downside, be equipped with ejector pin and push rod in the storage silo, conveying mechanism includes: a first conveying part, wherein the first conveying part extends along the third direction, one end of the first conveying part is communicated with the storage bin, the second conveying part extends along the first direction, one end of the second conveying part is connected with the second end of the first conveying part, and the second end of the second conveying part is communicated with the recovery bin; the standby station and the feeding station are sequentially arranged between the first end and the second end of the second conveying part, the ejector rod is used for lifting the energy storage piece in the storage bin along the second direction, so that the energy storage piece enters the first end of the first conveying part, and the ejector rod is used for pushing the energy storage piece from the first end of the first conveying part to the second conveying part.

Optionally, the top of fuselage is equipped with supporting part and location portion, supporting part is used for supporting unmanned aerial vehicle, location portion is used for right unmanned aerial vehicle fixes a position.

Optionally, the body defines a containing cavity, the conveying mechanism and the limiting mechanism are contained in the containing cavity, an opening communicated with the containing cavity is formed in the top of the body, and the replenishing device further comprises: the bin gate can be arranged at the opening in an openable and closable manner so as to open or close the accommodating cavity; the bin gate driving piece is connected with the bin gate to drive the bin gate to open and close.

Optionally, the replenishing device further comprises: and the flight mechanism is arranged on the fuselage so as to fly the fuselage.

According to a second aspect of the present utility model, there is provided a replenishment system comprising: a replenishment device according to any one of the above embodiments; unmanned aerial vehicle, unmanned aerial vehicle can bear on the replenishing device, the unmanned aerial vehicle bottom is equipped with the energy storage storehouse, be equipped with the energy storage piece in the energy storage storehouse, unmanned aerial vehicle can to replenishing device release the energy storage piece, or receive replenishing device provides the energy storage piece.

Optionally, the replenishing device comprises a jacking mechanism, a limit groove is arranged in the energy storage bin, a limit part and an elastic part are arranged in the energy storage part, the limit part is movable between a locking position and an unlocking position, and when the limit part is positioned at the locking position, the limit part extends out of the energy storage part and into the limit groove; when the limiting part is positioned at the unlocking position, the limiting part is separated from the limiting groove; the elastic piece can stretch and retract to drive the limiting part to move between the locking position and the unlocking position; the jacking mechanism is used for driving the elastic piece to stretch and retract.

According to the replenishing device provided by the utility model, the feeding station and the waiting station are arranged on the machine body, the energy storage piece filled with energy can be standby at the waiting station by utilizing the limiting mechanism, and after the energy storage piece is received from the unmanned aerial vehicle, the limiting mechanism can be rapidly switched to the second state from the second state, so that the energy storage piece filled with energy is rapidly conveyed to the feeding station and is limited at the feeding station, the time of conveying the energy storage piece to the conveying mechanism is saved, the time of replacing the energy storage piece is further shortened, and the replenishing efficiency is improved. In addition, can wait for the station to set up a plurality of energy storage spare at waiting for the station to realize carrying out quick supply to many unmanned aerial vehicle in succession, have the supply efficient, supply time advantage short.

Other features of the present utility model and its advantages will become apparent from the following detailed description of exemplary embodiments of the utility model, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description, serve to explain the principles of the utility model.

FIG. 1 is a schematic illustration of a replenishment system according to one embodiment provided by the present utility model;

FIG. 2 is a schematic illustration of a drone according to one embodiment provided by the present utility model;

FIG. 3 is a schematic view of a replenishment device according to one embodiment provided by the present utility model;

FIG. 4 is a schematic view of the internal structure of the fuselage of the replenishment device according to one embodiment of the present utility model;

FIG. 5 is a top view of the internal structure of the fuselage of the replenishment device according to one embodiment provided by the present utility model;

FIG. 6 is a perspective view of a spacing mechanism in a replenishment device according to one embodiment provided by the present utility model;

FIG. 7 is a side view of a stop mechanism in a replenishment device according to one embodiment provided by the present utility model;

FIG. 8 is a schematic view of the cooperation of a lifting mechanism and a jacking mechanism in a replenishment device according to one embodiment provided by the present utility model;

FIG. 9 is a schematic diagram of a jack mechanism mated with an energy storage member according to one embodiment of the present utility model;

FIG. 10 is a schematic view of a lift mechanism mated with a bin gate according to yet another embodiment provided by the utility model;

FIG. 11 is a schematic view of a door in a closed position according to yet another embodiment provided by the present utility model;

FIG. 12 is a schematic view of a door in an open position according to yet another embodiment provided by the present utility model;

FIG. 13 is a flowchart of the operation of a drone in a replenishment system according to one embodiment of the present utility model;

FIG. 14 is a flowchart of the operation of the replenishment device in the replenishment system during replenishment according to one embodiment of the present utility model.

Reference numerals

A replenishment system 1;

a replenishment device 100;

a body 10; a housing chamber 11; a feed station 12; a waiting station 13; a support portion 14; a support surface 141; a positioning portion 15;

A conveying mechanism 20; a first conveying section 21; a second conveying section 22; a guide rail 221;

A limiting mechanism 30; a first stopper 31; a second stopper 32; a linkage assembly 33; a first bevel gear 331; a second bevel gear 332; a third bevel gear 333; a limit drive 34;

A lifting mechanism 40; a lifting table 41; a lift drive 42; connecting rod 421; a telescoping control lever 422;

A jacking mechanism 50;

A storage bin 60; a jack 61; a push rod 62;

A recovery bin 70;

A flight mechanism 80;

A bin gate 91; a door drive 92;

The drone 200; a storage bin 201; a limit groove 202; a bin port 203; landing gear 206;

An energy storage member 300; a limit part 301; an elastic member 302.

Detailed Description

Various exemplary embodiments of the present utility model will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present utility model unless it is specifically stated otherwise.

The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the utility model, its application, or uses.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

A replenishment device 100 according to an embodiment of the present utility model will be described in detail below with reference to the drawings.

As shown in fig. 1 to 12, a replenishing device 100 according to an embodiment of the present utility model includes: a body 10, a conveying mechanism 20 and a limiting mechanism 30.

Specifically, the machine body 10 is provided with a feeding station 12 and a waiting station 13. The conveying mechanism 20 is arranged on the machine body 10 and is communicated with the feeding station 12 and the waiting station 13, and the conveying mechanism 20 is used for conveying the energy storage element 300 from the waiting station 13 to the feeding station 12. The limiting mechanism 30 is switchably disposed on the machine body 10 between a first state and a second state, and when the limiting mechanism 30 is in the first state, the limiting mechanism 30 limits the energy storage member 300 at the feeding station 12 and releases the limit of the energy storage member 300 at the waiting station 13. When the limiting mechanism 30 is in the second state, the limiting mechanism 30 releases the limit of the energy storage member 300 at the feeding station 12 and limits the energy storage member 300 at the waiting station 13.

In other words, the replenishment device 100 according to the embodiment of the present utility model is mainly constituted by the main body 10, the conveyance mechanism 20, and the stopper mechanism 30. The replenishing device 100 of the embodiment can replenish the unmanned aerial vehicle 200, specifically, the unmanned aerial vehicle 200 can be driven by the energy storage element 300, and the replenishing device 100 can replace the energy storage element 300 on the unmanned aerial vehicle 200.

Alternatively, the energy storage element 300 may be a battery, the battery with the consumed electric energy on the unmanned aerial vehicle 200 may be received by the replenishing device 100, and the replenishing device 100 may replenish the fully charged battery for the unmanned aerial vehicle 200, so as to realize the replacement of the battery.

It should be noted that the energy storage member 300 may be other structures capable of storing and releasing energy, which is not limited herein.

A feeding station 12 and a waiting station 13 may be provided on the body 10. The conveyor 20 may pass through the feeding station 12 and the waiting station 13 to communicate the feeding station 12 and the waiting station 13. The transport mechanism 20 may transport the energy storage 300 from the waiting station 13 to the feeding station 12. The energy storage 300 may be fed to the drone 200 at the feed station 12.

The machine body 10 is also provided with a limiting mechanism 30, and the limiting mechanism 30 can be switched between a first state and a second state. A portion of the limiting mechanism 30 may be located at the feeding station 12 to limit or release the energy storage 300 located at the feeding station 12, and a portion of the limiting mechanism may be located at the waiting station 12 to limit or release the energy storage 300 located at the waiting station 13.

The limit mechanism 30 can release the limit of the energy storage piece 300 at the waiting station 13 while limiting the energy storage piece 300 at the feeding station 12; the stop mechanism 30 may stop the energy storage 300 at the standby station 13 while the stop mechanism 30 releases the stop of the energy storage 300 at the feed station 12. In other words, when one of the two energy storage members 300 at the feeding station 12 and the waiting station 13 is restrained, the other can be released from the restraint.

In the following, the process of replenishing the replenishing device 100 will be described in detail by taking the energy storage member 300 as an example, and for convenience of description, it may be defined that the battery depleted of energy on the unmanned aerial vehicle is an electroless battery, and the battery full of electricity that the replenishing device 100 supplements to the unmanned aerial vehicle 200 is a full of electricity battery.

At least one full battery can be arranged at the waiting station 13 before replenishment begins, and the limiting mechanism 30 can be in a second state so as to limit the full battery; the electroless battery on the drone 200 may then be received by the feed station 12 and may be transported to the transport mechanism 20, and the transport mechanism 20 may then transport the electroless battery downstream such that the electroless battery leaves the feed station 12, where the full battery remains at the waiting station 13 as it is restrained by the second restraining member 32; after the electroless battery leaves the feeding station 12, the limiting mechanism 30 can be switched from the second state to the first state, the full-charge battery can be moved from the waiting station 13 to the feeding station 12 under the conveying of the conveying mechanism 20, and the limiting mechanism 30 is limited at the feeding station 12; the full battery at the feed station 12 may then be replenished to the drone 200, thereby completing one replenishment of the drone 200.

Therefore, according to the replenishment device 100 of the embodiment of the present utility model, the feeding station 12 and the waiting station 13 are disposed on the machine body 10, the energy storage member 300 filled with energy can be standby at the waiting station 13 by using the limiting mechanism 30, and after the energy storage member 300 is received from the unmanned aerial vehicle 200, the limiting mechanism 30 is rapidly switched from the second state to the second state, so that the energy storage member 300 filled with energy is rapidly conveyed to the feeding station 12 and limited at the feeding station 12, thereby saving the time for conveying the energy storage member 300 to the conveying mechanism 20, further reducing the time for replacing the energy storage member 300 and improving the replenishment efficiency. In addition, a plurality of energy storage members 300 can be arranged at the waiting station 13 to wait for realizing continuous rapid replenishment of the plurality of unmanned aerial vehicles 200, and the device has the advantages of high replenishment efficiency and short replenishment time.

According to an alternative embodiment of the utility model, the stop mechanism 30 comprises a first stop 31 and a second stop 32, the first stop 31 being provided at the feeding station 12 and the second stop 32 being provided at the waiting station 13. When the limiting mechanism 30 is in the first state, the first limiting member 31 limits the energy storage member 300 in the feeding station 12, and the second limiting member 32 releases the limit of the energy storage member 300 in the waiting station 13. When the limiting mechanism 30 is in the second state, the first limiting member 31 releases the limit of the energy storage member 300 at the feeding station 12, and the second limiting member 32 limits the energy storage member 300 at the waiting station 13.

Specifically, the limiting mechanism 30 mainly comprises two limiting members, namely a first limiting member 31 and a second limiting member 32, wherein the first limiting member 31 can be arranged at the feeding station 12 and is used for limiting or releasing the energy storage member 300 at the feeding station 12, and the second limiting member 32 can be arranged at the waiting station 13 and is used for limiting or releasing the energy storage member 300 at the waiting station 13.

When the first limiting member 31 limits the energy storage member 300 at the feeding station 12, the second limiting member 32 can release the limit of the energy storage member 300 at the waiting station 13; when the first stopper 31 releases the stopper of the energy storage 300 at the feeding station 12, the second stopper 32 may stopper the energy storage 300 at the waiting station 13. In other words, when one of the two energy storage members 300 at the feeding station 12 and the waiting station 13 is restrained, the other can be released from the restraint.

In this embodiment, the first limiting member 31 and the second limiting member 32 in the limiting mechanism 30 may be linked, so that the first limiting member 31 and the second limiting member 32 may be in opposite states, and when one of the two energy storage members 300 at the feeding station 12 and the waiting station 13 is limited, the other may be released from the limitation.

In some embodiments, when the first limiting member 31 or the second limiting member 32 limits the corresponding energy storage member 300, at least a portion of the first limiting member 31 or the second limiting member 32 may be located at the front side of the energy storage member 300 in the conveying direction of the conveying mechanism 20, so as to prevent the energy storage member 300 from moving downstream in the conveying direction of the conveying mechanism 20; when the first limiting member 31 or the second limiting member 32 releases the limit of the corresponding energy storage member 300, the first limiting member 31 or the second limiting member 32 can be away from the corresponding energy storage member 300, so that the energy storage member 300 can move downstream in the conveying direction of the conveying mechanism 20.

According to an alternative embodiment of the present utility model, the limiting mechanism 30 further comprises: a linkage assembly 33 and a limit drive 34.

The linkage assembly 33 is respectively connected with the first limiting piece 31 and the second limiting piece 32, and respectively drives the first limiting piece 31 and the second limiting piece 32 to move in opposite directions. The limiting driving piece 34 is connected with the linkage assembly 33 to drive the linkage assembly 33 to move.

In this embodiment, the linkage assembly 33 is used to connect the limiting driving member 34 with the first limiting member 31 and the second limiting member 32, so that one limiting driving member 34 drives the first limiting member 31 and the second limiting member 32 to move simultaneously, and the first limiting member 31 and the second limiting member 32 are linked, so that it can be ensured that both the first limiting member 31 and the second limiting member 32 always keep one limiting the energy storage member 300, and the other limiting the energy storage member 300, so that in the feeding process, the energy storage member 300 filled with energy can quickly enter the feeding station 12 and be limited at the feeding station 12, the time for conveying the energy storage member 300 to the conveying mechanism 20 is saved, the time for replacing the energy storage member 300 is further reduced, and the feeding efficiency is improved.

In addition, the first limiting part 31 and the second limiting part 32 are driven by the single limiting driving part 34 through the linkage assembly 33, so that the number of driving structures is reduced, and the replacement of full-power batteries and electroless batteries under the single limiting driving part 34 is realized, so that the method is simple and convenient. In addition, the energy consumption required by the single limit driving member 34 is small, which is beneficial to simplifying the structure of the limit mechanism 30, reducing the occupied space and weight of the limit mechanism 30 and improving the cruising ability of the replenishing device 100.

According to other embodiments of the present utility model, the linkage assembly 33 includes: a first bevel gear 331, a second bevel gear 332, and a third bevel gear 333.

The first bevel gear 331 is connected to the first stopper 31, and an axis of the first bevel gear 331 extends in the first direction. The second bevel gear 332 is connected to the second stopper 32, and an axis of the second bevel gear 332 extends in the first direction. The third bevel gear 333 is engaged with the first bevel gear 331 and the bevel gear, respectively, and the third bevel gear 333 is connected with the limit driver 34 and rotatable about its own axis by the drive of the limit driver 34 to rotate the first bevel gear 331 and the second bevel gear 332 in opposite directions.

In other words, the linkage assembly 33 of the present embodiment may be mainly composed of three bevel gears, namely, the first bevel gear 331, the second bevel gear 332, and the third bevel gear 333, respectively. The three bevel gears are rotatable about their own axes, respectively.

Specifically, the axis of the first bevel gear 331 and the axis of the second bevel gear 332 may extend in the first direction, respectively, that is, the axis of the first bevel gear 331 and the axis of the second bevel gear 332 may be parallel or coincident with each other. In addition, the first and second bevel gears 331 and 332 may be spaced apart in the first direction. The first bevel gear 331 may be connected with a first limiting member 31, the first limiting member 31 may move synchronously with the first bevel gear 331, the second bevel gear 332 may be connected with a second limiting member 32, and the second limiting member 32 may move synchronously with the second bevel gear 332.

Preferably, the first bevel gear 331 and the second bevel gear 332 may have the same structure and be centrally stacked in a distribution, with the axis of the first bevel gear 331 and the axis of the second bevel gear 332.

The third bevel gear 333 may be engaged with the first bevel gear 331 and the second bevel gear 332, respectively, and an axis of the third bevel gear 333 may extend in a third direction, which may be perpendicular to the first direction. The limiting driving member 34 may be connected to the third bevel gear 333 and drive the third bevel gear 333 to rotate.

When the third bevel gear 333 rotates around its own axis, both the first bevel gear 331 and the second bevel gear 332 may be driven to rotate around opposite directions, and since the axis of the first bevel gear 331 and the axis of the second bevel gear 332 both extend in the first direction, the second bevel gear 332 rotates reversely when the first bevel gear 331 rotates forward under the driving of the third bevel gear 333. Thus, both the first stopper 31 and the second stopper 32 can be kept at the same time, one of them is limited to the energy storage member 300, and the other is released from the limit to the energy storage member 300.

In some embodiments, the conveying mechanism 20 may output the energy storage member 300 along a horizontal direction, the first bevel gear 331 may rotate to drive the first limiting member 31 to lift or drop in a vertical direction, and the second bevel gear 332 may rotate to drive the second limiting member 32 to lift or drop in a vertical direction. Therefore, by driving the third bevel gear 333 by one of the limit driving members 34, the cooperation between the three bevel gears can be utilized, so that both the first limit member 31 and the second limit member 32 always keep one lifted, the other is dropped, the lifted limit member can be far away from the corresponding energy storage member 300 to release the limit of the energy storage member 300, and a part of the dropped limit member can be located downstream of the corresponding energy storage member 300 to limit the energy storage member 300.

It should be noted that, the limit driving member 34 may be any driving structure capable of providing power, for example, the limit driving member 34 may be a motor, and an output shaft of the motor may directly rotate with the third bevel gear 333; or the limit driving piece 34 may include a cylinder, a rack and a gear, the rack is meshed with the gear, the gear and the third bevel gear 333 may be connected through a transmission shaft, the cylinder may drive the rack to move along a straight line, and further convert the straight line motion into a rotational motion of the gear through the rack, so as to drive the third bevel gear 333 to rotate.

In this embodiment, the linkage assembly 33 is mainly configured by three bevel gears, which has a simple and reliable structure and a small space occupation ratio, so that the quick switching of the limiting mechanism 30 between the first state and the second state can be realized, the volume and the weight of the limiting mechanism 30 can be reduced, and the posture stability of the replenishment device 100 can be improved.

Alternatively, the limiting driving member 34 may be a servo motor, and the rotation angle of the third bevel gear 333 may be controlled by using the servo motor, so as to control the rotation angles of the first limiting member 31 and the second limiting member 32 through cooperation of three bevel gears.

In some embodiments, the first limiting member 31 and the second limiting member 32 may be a sheet body, respectively, when the first limiting member 31 or the second limiting member 32 limits the corresponding energy storage member 300, the sheet body may extend along the third direction, one end of the sheet body may be connected with the first bevel gear 331 and the second bevel gear 332, and the second end of the sheet body may be formed as a tip. The tips of the tablets may be located downstream of the energy storage 300 when the tablets limit the corresponding energy storage 300.

In some embodiments of the present utility model, the feeding station 12 and the waiting station 13 are spaced apart in a first direction, and the replenishment device 100 further includes a lifting mechanism 40, the lifting mechanism 40 being liftable in a second direction to lift the energy storage 300 on the conveyor 20 and convey it to the unmanned aerial vehicle 200, or to receive the energy storage 300 from the unmanned aerial vehicle 200 and convey it to the conveyor 20. The first direction, the third direction and the second direction are perpendicular.

Specifically, since the feeding station 12 and the waiting station 13 are spaced apart in the first direction, the conveying mechanism 20 can convey the accumulator 300 at least in the first direction.

A lift mechanism 40 may also be provided on the body 10 and the lift mechanism 40 may be located at the feed station 12. The lifting mechanism 40 may be lifted in a second direction, which may be a vertical direction. When the replenishment device 100 is replenishing the unmanned aerial vehicle 200, the conveyance mechanism 20 may convey the energy storage member 300 in a substantially horizontal direction, and the first direction may be the horizontal direction.

The lifting mechanism 40 may have two extreme positions when lifted, one of which may be located above the conveyor 20 and the other of which may be located below the conveyor.

The lifting mechanism 40 may be disposed directly below the conveying mechanism 20 and convey the energy storage member 300 through the conveying mechanism 20, and the lifting mechanism 40 may be disposed at a side of the conveying mechanism 20, for example, the lifting mechanism 40 may have a retractable pallet which may extend under the energy storage member 300 disposed on the conveying mechanism 20 before the lifting mechanism 40 lifts the energy storage member 300, and then the lifting mechanism 40 may drive the pallet to rise. After the elevator mechanism 40 has carried the energy storage 300 to the conveyor mechanism 20, the pallet may be retracted.

In the process of replenishing the unmanned aerial vehicle 200 by the replenishing device 100, the lifting mechanism 40 can be lifted upwards, so that the lifting mechanism 40 is close to the bottom of the unmanned aerial vehicle 200; the electroless battery on the drone 200 may then fall into the top end of the lift mechanism 40; the lift mechanism 40 then drops so that the electroless battery drops onto the conveyor mechanism 20 and moves downstream away from the feed station 12; then the limit mechanism 30 is switched from the second state to the first state, and the full battery of the waiting station 13 is released from limit to enter the feeding station 12; then the lifting mechanism 40 lifts again and lifts the full-charge battery on the conveying mechanism 20 so that the full-charge battery enters the unmanned aerial vehicle 200; finally, the lifting mechanism 40 falls and resets to complete the battery replenishment of the unmanned plane 200.

The unmanned aerial vehicle 200 after the replenishment is completed flies away from the replenishment device 100, and another unmanned aerial vehicle 200 to be replenished falls on the replenishment device 100, and the replenishment device 100 can continue the next round of replenishment operation.

In the present embodiment, the lifting mechanism 40 is provided, and the energy storage 300 on the conveying mechanism 20 can be conveyed upward to the bottom of the unmanned aerial vehicle 200 falling on the fuselage 10 or the energy storage 300 can be received from the bottom of the unmanned aerial vehicle 200 by using the lifting mechanism 40, so that the replacement of the energy storage 300 can be completed quickly.

In some alternative embodiments, the conveyor mechanism 20 includes two rails 221 extending in a first direction, the two rails 221 being spaced apart in a third direction, the lift mechanism 40 being positioned between the two rails 221, the third direction being perpendicular to the first and second directions.

The conveying mechanism 20 includes two guide rails 221, and the two guide rails 221 are spaced apart in the third direction. The lifting mechanism 40 is provided at the feeding station 12, between two guide rails 221,

The two guide rails 221 in the conveyor 20 may be spaced apart in the third direction. The two guide rails 221 may extend in the first direction, respectively, and the energy storage member 300 may be carried on the two guide rails 221, and the energy storage member 300 may be transported through the guide rails 221.

Optionally, rollers for transporting the energy storage member 300 may be provided on the guide rail 221, which are advantageous for reducing friction between the energy storage member 300 and the guide rail 221.

In some alternative embodiments, the rail 221 may extend obliquely downward in the direction of the waiting station 13 towards the feeding station 12, so that the energy storage 300 may slide along the rail 221 under its own weight. In the third direction, the lifting mechanism 40 may be located between the two rails 221. The elevating mechanism 40 may be elevated in the second direction, whereby the elevating mechanism 40 may protrude upward from between the two rails 221 to lift the energy storage member 300 on the two rails 221 or descend between the two rails 221 to transfer the energy storage member 300 onto the two rails 221.

In some embodiments, when the feeding device 100 feeds the unmanned aerial vehicle 200, the conveying mechanism 20 may convey the energy storage member 300 in a substantially horizontal direction, and thus, the first direction and the third direction may be horizontal directions perpendicular to each other, the second direction may be vertical directions, and the lifting mechanism 40 may be lifted in the vertical directions.

During replenishment of the unmanned aerial vehicle 200 by the replenishment device 100, the lifting mechanism 40 may be lifted upwards, such that the lifting mechanism 40 passes through the two rails 221 and approaches the bottom of the unmanned aerial vehicle 200; the electroless battery on the drone 200 may then fall into the top end of the lift mechanism 40; then the lifting mechanism 40 falls down, so that the electroless battery falls onto the feeding station 12 of the two guide rails 221 and moves downstream along the guide rails 221 to leave the feeding station 12 under the action of self gravity; then the limit mechanism 30 is switched from the second state to the first state, and the full battery of the waiting station 13 is released from limit to enter the feeding station 12; then the lifting mechanism 40 lifts again and lifts the full-charge battery on the guide rail 221 so that the full-charge battery enters the unmanned aerial vehicle 200; finally, the lifting mechanism 40 falls and resets to complete the battery replenishment of the unmanned plane 200.

In the present embodiment, the lifting mechanism 40 is disposed between the two guide rails 221, which is beneficial to reducing the size of the replenishment device, and has simple structure and high reliability.

Note that the width of the elevating mechanism 40 in the third direction is smaller than the distance between the two rails 221, so that the elevating mechanism 40 can freely pass between the two rails 221. When the two limiting members limit the corresponding energy storage member 300, each limiting member is spaced apart from the lifting mechanism 40 in the third direction, so as to avoid interference between the limiting member and the lifting mechanism 40 when the lifting mechanism 40 lifts.

According to some alternative embodiments of the present utility model, the elevating mechanism 40 includes: a lifting table 41 and a lifting drive 42.

The lifting table 41 is movable in the second direction between a first position, in which the lifting table 41 is lower than the conveying mechanism 20, and a second position, in which the lifting table 41 is higher than the conveying mechanism 20. The lifting driving member 42 is connected to the lifting table 41 to drive the lifting table 41 to move between the first position and the second position.

In other words, the elevating mechanism 40 of the present embodiment is mainly constituted by the elevating table 41 and the elevating driving member 42. Wherein, the lifting table 41 can be lifted along the second direction, and a lifting driving mechanism can be arranged on the machine body 10 and connected with the lifting table 41 for driving the lifting table 41 to lift and move between the first position and the second position.

When the lift table 41 is in the first position, the lift table 41 may be lower than the conveying mechanism 20. When the lifting table 41 moves from the first position to the second position, the lifting table 41 can pass through between the two guide rails 221 from below the conveying mechanism 20 and move to above the conveying mechanism 20, and in this process, if the conveying mechanism 20 carries the energy storage member 300, the lifting table 41 can lift the energy storage member 300.

When the lifting table 41 is at the second position, the lifting table 41 may be located above the conveying mechanism 20, at this time, the lifting table 41 may be close to the bottom of the unmanned aerial vehicle 200, at this time, if the lifting table 41 carries the energy storage element 300, the energy storage element 300 may enter the unmanned aerial vehicle 200 under the conveying of the lifting table 41, and if the lifting table 41 does not carry the energy storage element 300, the lifting table 41 may receive the energy storage element 300 from the unmanned aerial vehicle 200.

In this embodiment, the lifting table 41 is matched with the lifting driving member 42, so that the energy storage member 300 on the conveying mechanism 20 can be conveyed to the unmanned aerial vehicle 200, or the energy storage member 300 is received from the unmanned aerial vehicle 200 and conveyed to the conveying mechanism 20, and the lifting table 41 and the lifting driving member 42 are simple in structure and high in reliability.

In some embodiments, lift drive 42 may include four links 421, each of four links 421 being grouped together, each group of links 421 including two links 421 that are parallel to each other. The first end of each group of connecting rods 421 is connected with the lifting table 41, the middle parts of the two groups of connecting rods 421 are rotatably connected, the second end of one group of connecting rods 421 is fixedly connected with the machine body 10, the second end of the other group of connecting rods 421 is connected with a telescopic control rod 422, and the telescopic control rod 422 can extend along a third direction and can stretch in the third direction so as to drive the two groups of connecting rods 421 to link, so that the lifting table 41 can lift.

According to other embodiments of the present utility model, the lifting platform 41 has a hollowed portion, the replenishment device 100 further includes a jacking mechanism 50, the jacking mechanism 50 is disposed on the body 10 and located at the bottom side of the lifting platform 41, and at least a portion of the jacking mechanism 50 is movable along a second direction to pass through the hollowed portion and release the limit of the energy storage member 300 by the limit mechanism 20 of the unmanned aerial vehicle 200.

Specifically, the lifting table 41 may have a flat plate structure extending in the horizontal direction, and the hollowed-out portion may penetrate the lifting table 41 in the thickness direction of the lifting table 41, that is, may penetrate the lifting table 41 in the second direction.

The body 10 may further be provided with a lifting mechanism 50, and the body of the lifting mechanism 50 may be located at the bottom side of the lifting table 41. The jacking mechanism 50 may include an unloading telescoping rod, which may extend in the second direction. One end of the unloading telescopic rod can extend towards the hollowed-out part and is opposite to the hollowed-out part. The unloading telescopic rod can be telescopic in the second direction to pass through the hollowed-out portion so that a part of the unloading telescopic rod enters above the lifting table 41.

The unmanned aerial vehicle 200 can be provided with a limiting structure, the limiting structure can limit the energy storage part 300, for example, the unmanned aerial vehicle 200 can be provided with a limiting groove 202, the energy storage part 300 can be provided with a limiting part 301 and an elastic part 302, the limiting part 301 can move between a locking position and an unlocking position, and the elastic part 302 can stretch and retract to drive the limiting part 301 to move between the locking position and the unlocking position. When the limiting part 301 is in the locking position, the limiting part 301 stretches into the limiting groove 202 to enable the unmanned aerial vehicle 200 to limit the energy storage piece 300, and when the limiting part 301 is in the unlocking position, the limiting part 301 is far away from the limiting groove 202 to enable the unmanned aerial vehicle 200 to release limit on the energy storage piece 300.

When the lifting table 41 in the lifting mechanism 40 moves to the second position, the lifting mechanism 50 can pass through the hollowed-out portion to apply an external force to the elastic member 302 in the energy storage member 300, so that the elastic member 302 is compressed to enable the limiting portion 301 to move from the locking position to the unlocking position, and the energy storage member 300 is released from the limiting position, so that the energy storage member 300 can smoothly fall into the top end of the lifting table 41.

In other alternative embodiments, the limiting structure on the unmanned aerial vehicle 200 may be directly matched with the lifting platform 41, and the lifting platform 41 may directly apply an external force to the elastic member 302 in the energy storage member 300 during lifting, so that the elastic member 302 is compressed, and the limiting portion 301 moves from the locking position to the unlocking position, so that the energy storage member 300 is released from the limiting.

In some embodiments of the utility model, a storage bin 60 and a recovery bin 70 are provided within the fuselage 10, the storage bin being located upstream of the waiting station 13 in the conveying direction of the conveyor 20 to release energy storage to the conveyor 20, the recovery bin 70 being located downstream of the feeding station 12 to receive energy storage from the conveyor 20.

In particular, the transport mechanism 20 may transport the energy storage member 300 in a preset transport direction such that the energy storage member 300 sequentially passes through the waiting station 13 and the feeding station 12. The waiting station 13 and the feeding station 12 may be arranged between upstream and downstream of the conveyor 20 in the conveying direction of the conveyor 20.

The upstream of the conveyor 20 may be in communication with the storage bin 60 and receive full batteries from the storage bin 60, and the downstream of the conveyor 20 may be in communication with the recovery bin 70 and deliver no batteries to the recovery bin 70.

In this embodiment, by arranging the storage bin 60 and the recovery bin 70 on the machine body 10, the replenishment device 100 can store and sort full-power batteries and electroless batteries, and the cooperation with the conveying mechanism 20 can realize battery replacement for the multi-frame unmanned aerial vehicle 200 continuously, so that replenishment efficiency is improved.

According to some alternative embodiments of the present utility model, the storage bin 60 and the recovery bin 70 are respectively located at the bottom side of the conveying mechanism 20, and the storage bin 60 is provided with a push rod 61 and a push rod 62, and the conveying mechanism 20 includes a first conveying portion 21 and a second conveying portion 22.

The first conveying portion 21 extends in the third direction, and one end of the first conveying portion 21 communicates with the storage bin 60. The second conveying portion 22 extends in the first direction, one end of the second conveying portion 22 is connected to the second end of the first conveying portion 21, and the second end of the second conveying portion 22 communicates with the recovery bin 70. The waiting station 13 and the feeding station 12 are sequentially arranged between the first end and the second end of the second conveying portion 22, the ejector rod 61 is used for lifting the energy storage member 300 in the storage bin 60 along the second direction so that the energy storage member 300 enters the first end of the first conveying portion 21, and the push rod 62 is used for pushing the energy storage member 300 from the first end of the first conveying portion 21 to the second conveying portion 22.

Specifically, the conveying mechanism 20 may be mainly composed of a first conveying portion 21 and a second conveying portion 22, wherein the first conveying portion 21 extends in the third direction, and the second conveying portion 22 extends in the first direction. The first conveying part 21 may be provided at one end thereof with a storage bin 60 at the bottom, the other end of the first conveying part 21 may be communicated with one end of the second conveying part 22, and the bottom of the other end of the second conveying part 22 may be provided with a recovery bin 70. The waiting station 13 and the feeding station 12 may be arranged between both ends of the second conveying portion 22 in the conveying direction of the second conveying portion 22.

After falling onto the second conveying section 22, the energy storage 300 recovered from the unmanned aerial vehicle 200 may move downstream in the conveyance of the second conveying section 22 until falling into the recovery bin 70.

The ejector pins 61 and the push rods 62 may be disposed in the storage bin 60, the plurality of energy storage members 300 in the storage bin 60 may be carried at the top ends of the ejector pins 61, the ejector pins 61 may extend along the second direction, and the energy storage members 300 may be lifted along the second direction, so that the topmost energy storage member 300 among the plurality of energy storage members 300 is aligned with the first conveying portion 21. The pushing rod 62 may be located at one end of the first conveying portion 21 in the third direction, and the pushing rod 62 may move along the third direction to push the topmost energy storage member 300 of the plurality of energy storage members 300 to move from one end of the first conveying portion 21 toward the second conveying portion 22, so that the energy storage member 300 may enter the second conveying portion 22 and reach the waiting station 13 under the conveying of the second conveying portion 22, and at the waiting station 13, the energy storage member 300 may be limited by the second limiting member 32 to wait for replenishment of the unmanned aerial vehicle 200.

According to other embodiments of the present utility model, the top of the fuselage 10 is provided with a support portion 14 and a positioning portion 15, the support portion 14 is used for supporting the unmanned aerial vehicle 200, and the positioning portion 15 is used for positioning the unmanned aerial vehicle 200.

Specifically, the top of the fuselage 10 may be provided with a support portion 14, and the support portion 14 may support the unmanned aerial vehicle 200 to be replenished. Alternatively, the bottom of the unmanned aerial vehicle 200 may be provided with a landing gear 206, and the support portion 14 may be a support surface 141 provided on the top of the fuselage 10, and the support surface 141 may support the landing gear 206 on the unmanned aerial vehicle 200.

In some embodiments, the support surface 141 may extend obliquely relative to the vertical, and the landing gear 206 of the drone 200 may be adapted to the oblique direction of the support surface 141 such that the support surface 141 may guide the drone 200 to drop in place by cooperating with the landing gear 206.

The top of the body 10 may further be provided with a positioning portion 15, and the positioning portion 15 may position the unmanned aerial vehicle 200, so that the energy storage element 300 at the bottom of the unmanned aerial vehicle 200 may correspond to the lifting table 41 on the replenishment device 100.

Alternatively, the positioning portion 15 may include an electronic positioning structure and a mechanical positioning structure, and the electronic positioning structure may include positioning sensors, for example, four positioning sensors may be respectively disposed on the bottom of the unmanned aerial vehicle 200 and the top of the body 10, and the positioning sensors may be further used to determine whether the unmanned aerial vehicle 200 is successfully docked with the feeding device 100. The mechanical positioning mechanism may include, but is not limited to, a positioning slot, a positioning boss, and the like. Through the combined use of positioning sensor and mechanical positioning structure, realized unmanned aerial vehicle 200 and the accurate location butt joint of replenishing device 100, have simple structure reliable, control system's succinct efficient advantage.

In this embodiment, set up supporting part 14 at fuselage 10 top, can be with the unmanned aerial vehicle 200 bearing of waiting the supply at the top of fuselage 10 to the unmanned aerial vehicle 200 of unpowered state when lifting the battery uninstallation firmly realizes the aerial supply that need not stand-by battery, need not to supply device 100 and carries extra power supply or unmanned aerial vehicle 200 itself and carry stand-by battery to unmanned aerial vehicle 200, has reduced unmanned aerial vehicle 200 heavy burden, is favorable to increasing unmanned aerial vehicle 200 duration.

In addition, set up location portion 15 at fuselage 10 top, can play the effect of guiding the butt joint to unmanned aerial vehicle 200 at unmanned aerial vehicle 200 descends at the in-process of replenishing device 100, can support again to lift unmanned aerial vehicle 200 after the butt joint, and unmanned aerial vehicle 200 undercarriage 206 also falls on the fuselage 10 upper surface of replenishing device 100, makes it keep stable.

In other alternative embodiments, the body 10 defines a receiving chamber 11, the transport mechanism 20 and the spacing mechanism 30 are received within the receiving chamber 11, the top of the body 10 is provided with an opening 111 in communication with the receiving chamber 11, and the replenishment device 100 further includes a door 91 and a door drive 92. The door 91 is provided openably and closably at the opening to open or close the accommodating chamber. The door driving member 92 is connected to the door 91 to drive the door 91 to open and close.

Specifically, as shown in fig. 10 to 12, the body 10 may define a more accommodating chamber 11, the top of the body 10 may be provided with an opening, the opening may be in communication with the accommodating chamber 11, and the conveying mechanism 20 and the limiting mechanism 30 may be accommodated in the accommodating chamber 11 to protect the conveying mechanism 20, the limiting mechanism 30, and the energy storage 300 conveyed by the conveying mechanism 20 by using the housing of the body 10.

When the unmanned aerial vehicle 200 is docked with the replenishment device 100, the portion of the bottom of the unmanned aerial vehicle 200 provided with the energy storage member 300 may be opposite to the opening of the accommodation chamber 11, so that the energy storage member 300 is replaced.

The opening of the machine body 10 can be provided with a bin gate 91 which can be opened and closed, the bin gate 91 can be movably connected with the machine body 10, and a bin gate driving piece 92 can drive the bin gate 91 to be opened and closed. Alternatively, the door drive 92 can be a motor.

Thus, when the replenishment device 100 is not replenished, the bin gate 91 may be closed to protect the structure housed in the housing chamber 11 from shorting in the weather. During replenishment, the drone 200 may be positioned directly above the opening 111 of the fuselage 10, at which time the door 91 may be opened for replenishment.

Alternatively, the number of gates 91 may be two, two gates 91 may be spaced apart, and driven by separate gate drives 92,

In some embodiments of the present utility model, the replenishment device 100 further includes a flying mechanism 80, wherein the flying mechanism 80 is provided on the fuselage 10 to fly the fuselage 10.

The flight mechanism 80 is arranged on the machine body 10, so that the replenishment device 100 has flight capability and becomes an aerial replenishment machine, the problem that the unmanned aerial vehicle 200 is replenished in the air and the battery path is long when the Jie Juemo unmanned aerial vehicle 200 returns to the warehouse for replacement can be solved, and the replenishment efficiency of the unmanned aerial vehicle 200 is improved. In addition, after one-side replenishment work is completed in the air, the replenishment device 100 can continue to control replenishment of other unmanned aerial vehicles 200, which is advantageous for further improving replenishment efficiency.

The embodiment of the utility model also provides a replenishment system 1, the replenishment system 1 comprises a replenishment device 100 and a unmanned aerial vehicle 200, and the replenishment device 100 is the replenishment device 100 according to any of the embodiments.

The bottom of the unmanned aerial vehicle 200 is provided with an energy storage bin 201, an energy storage piece 300 is arranged in the energy storage bin 201, and the unmanned aerial vehicle 200 can release the energy storage piece 300 to the replenishing device 100 or receive the energy storage piece 300 provided by the replenishing device 100.

Since the replenishment device 100 according to the embodiment of the present utility model has the above-mentioned technical effects, the replenishment system 1 according to the embodiment of the present utility model also has the corresponding technical effects that the energy storage member 300 filled with energy is standby at the waiting station 13, and after the energy storage member 300 is received from the unmanned aerial vehicle 200, the limiting mechanism 30 is quickly switched from the second state to the second state, so that the energy storage member 300 filled with energy is quickly conveyed to the feeding station 12 and is limited at the feeding station 12, the time for conveying the energy storage member 300 to the conveying mechanism 20 is saved, the time for replacing the energy storage member 300 is further reduced, and the replenishment efficiency is improved. In addition, a plurality of energy storage members 300 can be arranged at the waiting station 13 to wait for realizing continuous rapid replenishment of the plurality of unmanned aerial vehicles 200, and the device has the advantages of high replenishment efficiency and short replenishment time.

In other embodiments, the unmanned aerial vehicle 200 may further include components not limited to a gyro sensor, a camera, a battery, a rotor, a motor, etc., which are not described herein.

The following describes in detail the operation of the unmanned aerial vehicle 200 during the process of docking the unmanned aerial vehicle 200 with the replenishment device 100 in the replenishment process of the replenishment system 1.

As shown in fig. 13, first, when the unmanned aerial vehicle 200 is low in power, low power detection and early warning are performed; then, the unmanned aerial vehicle 200 transmits positioning information to the replenishment device 100; subsequently, the unmanned aerial vehicle 200 hovers in the air to wait for the docking of the replenishment device 100, if the docking is detected to be unsuccessful, the unmanned aerial vehicle 200 continues hovering to wait for the docking, and if the docking is detected to be successful, the unmanned aerial vehicle 200 sends a power closing request to the replenishment device 100; after the power-off request is sent, the unmanned aerial vehicle 200 turns off its own power and waits for battery replacement.

The following describes in detail the operation of the replenishment device 100 in the process of docking the unmanned aerial vehicle 200 with the replenishment device 100 in the replenishment system 1.

As shown in fig. 14, after the replenishment device 100 receives the positioning information transmitted from the unmanned plane 200, the replenishment device 100 takes off; then the replenishing device 100 arrives below the unmanned aerial vehicle 200 according to the positioning information and the positioning sensor; then, the replenishing device 100 slowly ascends and detects whether the docking is successful, if the docking is not detected to be successful, the replenishing device 100 continues to ascend, if the docking is detected to be successful, whether a power closing request sent by the unmanned aerial vehicle 200 is received is judged, if the power closing request is not detected, the replenishing device 100 hovers and waits, if the power closing request is not received, the replenishing device 100 increases the power output of the replenishing device to provide an ascending force, and the unmanned aerial vehicle 200 after the power closing is lifted; then the replenishing device 100 adjusts the pose of the replenishing device to realize hovering and static; and then enters a battery replacement phase.

In some embodiments of the present utility model, the replenishing device 100 includes a lifting mechanism 50, as shown in fig. 9, a limiting groove 202 is disposed in the energy storage bin 201, and a limiting portion 301 and an elastic member 302 are disposed in the energy storage member 300. The limiting portion 301 is movable between a locking position and an unlocking position, and when the limiting portion 301 is in the locking position, the limiting portion 301 extends out of the energy storage member 300 and into the limiting groove 202. When the limit part 301 is in the unlocking position, the limit part 301 is separated from the limit groove 202. The elastic member 302 is retractable to drive the limit portion 301 to move between the locking position and the unlocking position. The lifting mechanism 50 is used for driving the elastic member 302 to stretch and retract.

The elastic member 302 may cooperate with the jacking mechanism 50. When the lifting mechanism 50 passes through the hollow portion to compress the elastic member 302, the limiting portion 301 can move from the locking position to the unlocking position, and the energy storage member 300 can be released from the limitation, so that the energy storage member 300 can fall onto the top of the lifting table 41 to fall along with the lifting table 41 until reaching the conveying mechanism 20.

Alternatively, the limiting portion 301 may be a plurality of limiting links 421, and the number of limiting links 421 may be a plurality of corresponding limiting grooves 202 may also be a plurality of limiting links 421 in a one-to-one correspondence. The number of the elastic members 302 may be one, and one elastic member 302 may simultaneously drive a plurality of limit links 421 to move. When the limiting part 301 is in the locking position, one end of the limiting connecting rod 421 away from the elastic element 302 can extend out of the energy storage element 300 and enter the limiting groove 202, and when the limiting part 301 is in the unlocking position, one end of the limiting connecting rod 421 away from the elastic element 302 can withdraw from the limiting groove 202 and retract into the energy storage element 300.

In this embodiment, the energy storage member 300 is limited by using the cooperation of the limiting portion 301 and the limiting groove 202, which is favorable to the reliability of the connection between the energy storage member 300 and the unmanned aerial vehicle 200, and prevents the energy storage member 300 from falling. The elastic piece 302 is arranged to drive the limiting part 301 to move, the limiting of the energy storage piece 300 can be relieved by applying force to the elastic piece 302, the structure is simple, and the reliability is high.

According to some alternative embodiments of the present utility model, the energy storage bin 201 is provided with a bin port 203, and the unmanned aerial vehicle 200 comprises: a closure and a closure drive. The cover can be opened and closed at the bin opening 203 to support the energy storage element 300 or release the energy storage element 300. The cover driving piece is connected with the cover to drive the cover to open and close.

Specifically, a cover may be provided at the bin opening 203 of the energy storage bin 201 of the unmanned aerial vehicle 200 for mounting the energy storage member 300, and the cover may be connected to the cover driving member and opened and closed by the cover driving member. When the cover is in the closed position, the cover can limit the energy storage element 300 to prevent the energy storage element 300 from falling from the bottom of the unmanned aerial vehicle 200; when the cover is in the open position, the energy storage 300 may fall from the bin opening 203 and onto the top of the lift table 41.

In this embodiment, the energy storage member 300 can be limited or released by opening and closing the cover, so that the lifting mechanism 50 can be omitted from the replenishing device 100, which is beneficial to simplifying the structure of the replenishing device 100. In addition, the cover can also protect the energy storage element 300 to avoid the energy storage element 300 from being shorted in rainy and snowy weather.

Alternatively, the number of covers may be two, the two covers may be spaced apart and driven by separate cover drives, respectively, each cover may correspond to one rotatable power Chi Tuopan. Providing two covers prevents the energy storage member 300 from being caught by the covers and not falling down. In addition, the two covers can avoid the short-circuit risk in rainy and snowy weather.

While certain specific embodiments of the utility model have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the utility model. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the utility model. The scope of the utility model is defined by the appended claims.

Claims (15)

1. A replenishment device, comprising:

the machine body is provided with a feeding station and a waiting station;

The conveying mechanism is arranged on the machine body and communicated with the feeding station and the waiting station, and is used for conveying the energy storage element from the waiting station to the feeding station;

The limiting mechanism is arranged on the machine body in a switchable manner between a first state and a second state;

When the limiting mechanism is in the first state, the limiting mechanism limits the energy storage piece at the feeding station and releases the limit of the energy storage piece at the waiting station;

When the limiting mechanism is in the second state, the limiting mechanism releases the limit of the energy storage piece at the feeding station and limits the energy storage piece at the waiting station.

2. The replenishment device as claimed in claim 1, wherein the limiting mechanism comprises a first limiting member and a second limiting member, the first limiting member being provided at the feeding station, the second limiting member being provided at the waiting station,

When the limiting mechanism is in the first state, the first limiting piece limits the energy storage piece in the feeding station, and the second limiting piece releases the limit of the energy storage piece in the waiting station;

When the limiting mechanism is in the second state, the first limiting part releases limiting of the energy storage part in the feeding station, and the second limiting part limits the energy storage part in the waiting station.

3. The replenishment device as in claim 2, wherein the limiting mechanism further comprises:

The linkage assembly is respectively connected with the first limiting piece and the second limiting piece and respectively drives the first limiting piece and the second limiting piece to move in opposite directions;

And the limiting driving piece is connected with the linkage assembly to drive the linkage assembly to move.

4. The replenishment device as in claim 3, wherein the linkage assembly comprises:

The first bevel gear is connected with the first limiting piece, and the axis of the first bevel gear extends along a first direction;

the second bevel gear is connected with the second limiting piece, and the axis of the second bevel gear extends along the first direction;

And the third bevel gear is respectively meshed with the first bevel gear and the second bevel gear, is connected with the limit driving piece and can rotate around the axis of the limit driving piece under the driving of the limit driving piece, so that the first bevel gear and the second bevel gear rotate in opposite directions.

5. The replenishment device as in claim 1, wherein the feeding station and the waiting station are spaced apart in a first direction, the replenishment device further comprising:

The lifting mechanism is arranged at the feeding station and can lift along a second direction, so that the energy storage part on the conveying mechanism is lifted and conveyed to the unmanned aerial vehicle, or the energy storage part is received from the unmanned aerial vehicle and conveyed to the conveying mechanism, and the first direction is vertical to the second direction.

6. The replenishment device as claimed in claim 5, wherein the transportation mechanism comprises two rails extending in the first direction, the two rails being spaced apart in a third direction, the lifting mechanism being located between the two rails, the third direction, the first direction and the second direction being perpendicular to each other.

7. The replenishment device as claimed in claim 5, wherein the lifting mechanism comprises:

A lift table movable along the second direction between a first position and a second position, the lift table being lower than the conveying mechanism when the lift table is in the first position and higher than the conveying mechanism when the lift table is in the second position;

And the lifting driving piece is connected with the lifting table so as to drive the lifting table to move between the first position and the second position.

8. The replenishment device as claimed in claim 7, wherein the lifting platform has a hollowed-out portion, the replenishment device further comprising:

The lifting mechanism is arranged on the machine body and is positioned at the bottom side of the lifting platform, and at least one part of the lifting mechanism is movable along the second direction so as to penetrate through the hollowed-out part and relieve the limit of the limit structure of the unmanned aerial vehicle on the energy storage part.

9. The replenishment device as claimed in claim 6, wherein a storage bin and a recovery bin are provided in the body, the storage bin being provided upstream of the waiting station in a conveying direction of the conveying mechanism to release the energy storage member to the conveying mechanism, and the recovery bin being provided downstream of the feeding station to receive the energy storage member from the conveying mechanism.

10. The supply of claim 9, wherein the storage bin and the recovery bin are located at the bottom side of the conveying mechanism, respectively, and wherein a push rod and a push rod are disposed in the storage bin, and the conveying mechanism comprises:

A first conveying part extending along the third direction, one end of the first conveying part being communicated with the storage bin,

A second conveying part extending along the first direction, one end of the second conveying part being connected with the second end of the first conveying part, the second end of the second conveying part being communicated with the recovery bin;

The standby station and the feeding station are sequentially arranged between the first end and the second end of the second conveying part, the ejector rod is used for lifting the energy storage piece in the storage bin along the second direction, so that the energy storage piece enters the first end of the first conveying part, and the ejector rod is used for pushing the energy storage piece from the first end of the first conveying part to the second conveying part.

11. The replenishment device according to claim 1, wherein a supporting portion and a positioning portion are provided at a top of the body, the supporting portion being for supporting the unmanned aerial vehicle, and the positioning portion being for positioning the unmanned aerial vehicle.

12. The refill device of claim 1, wherein the body defines a receiving cavity, the delivery mechanism and the stop mechanism being received in the receiving cavity, the top of the body being provided with an opening in communication with the receiving cavity, the refill device further comprising:

The bin gate can be arranged at the opening in an openable and closable manner so as to open or close the accommodating cavity;

The bin gate driving piece is connected with the bin gate to drive the bin gate to open and close.

13. The replenishment device according to any one of claims 1 to 12, further comprising:

and the flight mechanism is arranged on the fuselage so as to fly the fuselage.

14. A replenishment system, comprising:

A replenishment device according to any one of claims 1 to 13;

Unmanned aerial vehicle, unmanned aerial vehicle can bear on the replenishing device, the unmanned aerial vehicle bottom is equipped with the energy storage storehouse, be equipped with the energy storage piece in the energy storage storehouse, unmanned aerial vehicle can to replenishing device release the energy storage piece, or receive replenishing device provides the energy storage piece.

15. The replenishment system as claimed in claim 14, wherein the replenishment device comprises a jacking mechanism, wherein a limit groove is formed in the energy storage bin, a limit part and an elastic member are arranged in the energy storage member,

The limiting part is movable between a locking position and an unlocking position, and when the limiting part is positioned at the locking position, the limiting part extends out of the energy storage piece and extends into the limiting groove;

when the limiting part is positioned at the unlocking position, the limiting part is separated from the limiting groove;

The elastic piece can stretch and retract to drive the limiting part to move between the locking position and the unlocking position;

The jacking mechanism is used for driving the elastic piece to stretch and retract.