CN114801867A - Unmanned aerial vehicle full-automatic battery replacement airport based on multi-axis manipulator - Google Patents

Abstract

The present application discloses a fully automatic power exchange airport for unmanned aerial vehicles based on a multi-axis manipulator. The drone's fully automatic power exchange airport includes a machine nest and a manipulator. The hangar includes a base plate and a plurality of hangar doors each rotatably connected to the base plate, each of which can be opened and closed. The manipulator is installed on the base plate, and the manipulator has at least three degrees of freedom. When all the hangar doors are closed, the manipulator is accommodated in the accommodating space. In this way, when the hangar door is opened, the drone can be parked on the bottom plate and the battery can be replaced by a manipulator with multiple degrees of freedom, so that the drone can be parked at any angle to complete the battery swap operation. It is more convenient. After the drone is replaced, it can fly off the bottom plate, the hangar door is closed to prevent dust and other debris from falling into the accommodation space, and the hangar door is opened when the drone is replaced next time. This cycle makes the battery change. The process is faster and more convenient, effectively enhancing the working ability of the drone.

Description

Unmanned aerial vehicle full-automatic battery replacement airport based on multi-axis manipulator

Technical Field

The application relates to the technical field of unmanned aerial vehicles, especially relates to a full-automatic electric airport that trades of unmanned aerial vehicle based on multiaxis manipulator.

Background

With the rapid development of economy and the rapid progress of society, the social economy and the life of people are increasingly unable to guarantee reliable power supply. Although the scale of the power grid equipment is also increased sharply, the social requirement on the power supply reliability is higher and higher, the operation and maintenance management of the power grid equipment by a power grid enterprise is also improved, but the structural performance of operation and maintenance staff of a power grid basic unit is insufficient, so that the workload of the operation and maintenance staff of the power grid enterprise basic unit is increased in multiples. The unmanned aerial vehicle autonomous inspection technology is an important tool used for inspection of basic level personnel of a power grid enterprise, and is an important means for lightening the workload of the basic level personnel, improving the quality and effect of inspection work and promoting the conversion from traditional manual work to full-mechanical and automatic work.

However, the existing unmanned aerial vehicle autonomous inspection technology mainly depends on manual power supply, power exchange, starting, takeoff instruction sending and the like for the unmanned aerial vehicle, and labor force is not liberated although manual operation amount is reduced compared with the traditional manual operation flight. In order to further improve unmanned degree that unmanned aerial vehicle independently patrols and examines, unmanned aerial vehicle machine nest has appeared in the market, but the machine nest in the market all changes the battery for unmanned aerial vehicle through fixed transmission module at present, only can be specific model, change unmanned aerial vehicle battery from a direction face, in case the unmanned aerial vehicle model changes, the direction face in unmanned aerial vehicle battery compartment changes, can't realize the change of battery, there are a great deal of problems such as bulky (move often and exceed 4.5m mansion), the quality is heavy (move often and exceed 800 kg), the structure is complicated, high cost, complex operation, application scope is extremely narrow (can only be suitable for a certain specific model) and the like. In order to effectively solve the problems, the unmanned degree of the autonomous inspection process of the unmanned aerial vehicle is further improved, the portability (volume compression is over 60 percent and mass compression is over 80 percent), the universality (power inspection common machine types which can be adapted simultaneously are over 4) and the usability of the unmanned aerial vehicle automatic airport are improved, and the unmanned aerial vehicle full-automatic battery replacement airport based on the multi-axis manipulator is disclosed.

Disclosure of Invention

The embodiment of the application provides a full-automatic electric airport that trades of unmanned aerial vehicle based on multiaxis manipulator.

The full-automatic electric airport that trades of unmanned aerial vehicle of this application embodiment includes machine nest and manipulator. The aircraft nest includes the bottom plate and all with a plurality of hangar doors that the bottom plate rotates to be connected, every the hangar door all can open and close, all the hangar door all is in under the open mode, the bottom plate upwards exposes completely, all the hangar door all is in under the closed mode, all the hangar door fold and with the bottom plate encloses into accommodation space. The manipulator is arranged on the bottom plate, the manipulator has degrees of freedom in at least three directions, and the manipulator is accommodated in the accommodating space when all the garage doors are in a closed state.

In the full-automatic electric airport that trades of unmanned aerial vehicle of this application embodiment, unmanned aerial vehicle can park on the bottom plate and trade the electricity to the battery through the manipulator that has a plurality of direction degrees of freedom when the hangar door is opened, and then make unmanned aerial vehicle park with arbitrary angle and all can accomplish the operation of trading the electricity, it is more convenient to trade the electricity process, unmanned aerial vehicle trades and can fly away from the bottom plate after accomplishing, the hangar door is closed and falls to accommodation space in order to prevent debris such as dust, treat that unmanned aerial vehicle trades the electricity next time and open the hangar door again, it is more swift and convenient to trade the electricity process to circulate so make, unmanned aerial vehicle's duration has effectively been prolonged.

In some embodiments, the full-automatic battery replacement station for unmanned aerial vehicles comprises a driving device, the driving device is connected with the bottom plate and the hangar door, and the driving device is used for driving the hangar door to open or close.

In some embodiments, the driving device includes a telescopic rod, the telescopic rod connects the bottom plate and the hangar door, the telescopic rod pushes the hangar door to open during the extension of the telescopic rod, and the telescopic rod drives the hangar door to close during the shortening of the telescopic rod.

In some embodiments, the base plate includes a central region configured to park a drone and an edge region connected to the central region, the robot being mounted at the edge region.

In some embodiments, the unmanned aerial vehicle full-automatic battery replacement station includes a charging device disposed in the edge region and located at one side of the manipulator, the charging device is configured to store and charge battery packs, each of the battery packs includes at least one battery.

In some embodiments, at least one of the hangar doors is provided with an access door corresponding to the charging device.

In some embodiments, the charging device is provided with a plurality of charging sites, each of which is configured to store and charge one of the batteries.

In some embodiments, multiple battery packs on the charging device are configured to power the same drone.

In some embodiments, the battery packs in the plurality of charging positions are configured to be replaced onto the drone in turn, and the full charge time of any one of the battery packs is less than the total duration of the battery packs in the other charging positions and the battery packs on the drone, so as to ensure that the drone has a fully charged battery to perform the polling task.

In certain embodiments, the plurality of hangar doors are connected in an edge-sealing connection with one another, the plurality of hangar doors being configured to open and close in sequence.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic perspective view of a fully-automatic battery replacement station of an unmanned aerial vehicle according to an embodiment of the present application when the station is closed;

fig. 2 is a schematic perspective view of an unmanned aerial vehicle full-automatic battery replacement station according to an embodiment of the present application when opened;

FIG. 3 is a schematic perspective view of a base plate portion of an embodiment of the present application;

fig. 4 is a schematic perspective view of a robot according to an embodiment of the present application;

FIG. 5 is a perspective view of a mechanical grab according to an embodiment of the present application;

FIG. 6 is a schematic view of a mechanical grab for gripping a battery according to an embodiment of the present application;

FIG. 7 is a schematic perspective view of an attachment plate according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of a fully-automatic motor switching field of an unmanned aerial vehicle according to an embodiment of the present application;

fig. 9 is a schematic view of a battery pack according to an embodiment of the present application.

Description of the main element symbols:

the unmanned aerial vehicle full-automatic battery replacement station comprises an unmanned aerial vehicle full-automatic battery replacement station 100, a machine nest 10, a bottom plate 11, a central area 111, an edge area 112, a garage door 12, a front door 121, a rear door 122, a first side door 123, a second side door 124, an access door 125, a water chute 126, an accommodating space 13, a manipulator 20, a mechanical arm 21, a steering shaft 211, a mechanical claw 22, a first connecting part 221, an unlocking structure 2211, a second connecting part 222, an adsorption part 223, a driving device 30, a telescopic rod piece 31, a centering device 40, a charging device 50, a charging position 51, a battery pack 60, a battery 61, an additional plate 611 and a locking device 62.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, 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," "clockwise," "counterclockwise," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be construed as limiting the present application. 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", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1 to 4, a fully automatic battery replacement station 100 for unmanned aerial vehicles according to an embodiment of the present application includes a nest 10 and a manipulator 20. The airfield nest 10 comprises a bottom plate 11 and a plurality of airfield doors 12 which are rotatably connected with the bottom plate 11, each airfield door 12 can be opened and closed, all the airfield doors 12 are in an opening state, the bottom plate 11 is completely exposed upwards, all the airfield doors 12 are in a closing state, and all the airfield doors 12 are folded and enclose an accommodating space 13 with the bottom plate 11. The robot 20 is mounted on the base plate 11, the robot 20 has at least three degrees of freedom, and the robot 20 is accommodated in the accommodating space 13 in a state where all the garage doors 12 are closed.

In the full-automatic battery changing airport 100 of unmanned aerial vehicle of this application embodiment, unmanned aerial vehicle can park on bottom plate 11 and trade the electricity through manipulator 20 that has a plurality of direction degrees of freedom when hangar door 12 is opened to battery 61, and then make unmanned aerial vehicle park with arbitrary angle and all can accomplish the operation of trading the electricity, it is more convenient to trade the electricity process, unmanned aerial vehicle trades and can fly away from bottom plate 11 after accomplishing, hangar door 12 is closed and falls to accommodation space 13 with debris such as preventing dust, treat that unmanned aerial vehicle trades the electricity next time and open hangar door 12 again, so circulation makes the electricity process of trading more swift and convenient, unmanned aerial vehicle's working capability has effectively been strengthened.

Specifically, unmanned aerial vehicle trades full-automatic airport 100 can realize the automatic and high-efficient function of changing battery 61 to unmanned aerial vehicle to make unmanned aerial vehicle trade electric efficiency higher and trade the electricity more convenient, improve unmanned aerial vehicle's work efficiency. Can be equipped with the locating element on the unmanned aerial vehicle so that unmanned aerial vehicle can possess high-accuracy locate function, RTK difference positioning module for unmanned aerial vehicle can accurately find the full-automatic position of trading airport 100 of unmanned aerial vehicle when battery 61 is traded to needs.

As shown in fig. 2 and 3, the bottom plate 11 may be configured as a square plate-shaped structure, and may be mainly used for parking the drone and carrying the manipulator 20, the charging device 50, and other components. When the battery 61 needs to be replaced after the unmanned aerial vehicle works for a period of time, the positioning element can be accurately returned to a designated position on the bottom plate 11, and then the battery 61 can be replaced under the operation of the manipulator 20. The unmanned aerial vehicle after the battery replacement can continue to execute the flight task,

the hangar door 12 may be provided in plural, and the plural hangar doors 12 are sequentially provided along the peripheral side edge of the bottom plate 11 and rotatably connected to the bottom plate 11. For example, the garage door 12 may include a front door 121, a rear door 122, a first side door 123, a second side door 124, and the like, and the front door 121, the rear door 122, the first side door 123, and the second side door 124 are all rotatably connected to an edge of the bottom panel 11 and can be opened or closed with respect to the bottom panel 11. The hangar door 12 can be rotatably connected with the bottom plate 11 through hinges or rotating shafts. This application does not do the restriction to the concrete constitution of hangar door 12 and with the rotation connected mode of bottom plate 11, and a plurality of hangar doors 12 can not influence unmanned aerial vehicle when opening and take off or descend, can make inside accommodation space 13 relatively sealed when closing can.

When all hangar doors 12 are in the open state, the upper space of the bottom plate 11 can be completely exposed, namely the airfield nest 10 is in the full-open state, so that the unmanned aerial vehicle can take off and land conveniently, and the interference of the hangar doors 12 on the take-off and landing of the unmanned aerial vehicle is avoided. Meanwhile, after part of the hangar doors 12 are opened, the hangar doors can be level with the bottom plate 11, so that the take-off and landing area of the unmanned aerial vehicle can be increased, and the safety of the unmanned aerial vehicle during take-off and landing is improved.

When all the hangar doors 12 are in a closed state, the plurality of hangar doors 12 rotate relative to the bottom plate 11 to enclose a relatively closed accommodating space 13 with the bottom plate 11. When unmanned aerial vehicle maintained or transported, unmanned aerial vehicle can hold in accommodation space 13, can provide the protection and transport more conveniently for unmanned aerial vehicle. Meanwhile, when the unmanned aerial vehicle takes off after the power is exchanged on the bottom plate 11, the hangar door 12 can be closed, so that dust and other impurities can be effectively prevented from falling onto the bottom plate 11, and the cleanness of the inside of the airframe 10 is kept.

Referring to fig. 3 to 6, the manipulator 20 may be fixedly installed on the bottom plate 11, specifically, may be installed at a side of the unmanned aerial vehicle taking-off and landing area, and does not affect taking-off and landing of the unmanned aerial vehicle. The robot 20 has at least three degrees of freedom, that is, the robot 20 can move freely in at least three directions, i.e., up and down, right and left, and back and forth. Furthermore, unmanned aerial vehicle's battery 61 towards arbitrary angle manipulator 20 homoenergetic and accomplish and snatch, adaptability is stronger and the structure is simpler.

Among other things, in some embodiments, the robot 20 may include a robot arm 21 and a robot gripper 22, the robot arm 21 being mounted on the base plate 11, the robot gripper 22 being mounted at an end of the robot arm 21. The mechanical gripper 22 can be used for gripping the battery 61, and the mechanical arm 21 can drive the mechanical gripper 22 to take and place the battery 61 so as to replace the battery 61 for the unmanned aerial vehicle. The mechanical arm 21 can be provided with a plurality of steering shafts 211, so that the mechanical arm 21 can drive the mechanical gripper 22 to grip the batteries 61 at different positions, the whole mechanical arm 20 is more flexible, and the gripping of the batteries 61 is facilitated.

As shown in fig. 5, the mechanical gripper 22 may include a first connection portion 221, a second connection portion 222, and a suction member 223. The first connection portion 221 and the second connection portion 222 may have a plate-shaped structure and be connected at an angle, for example, they may be vertically disposed therebetween. The suction member 223 may be mounted on the first connection portion 221, or may be mounted on the second connection portion 222, or both the first connection portion 221 and the second connection portion 222 are mounted with the suction member 223, and the suction member 223 is mainly used for sucking the battery 61 so that the battery 61 is sucked between the first connection portion 221 and the second connection portion 222.

As shown in fig. 6 and 7, the first connection portion 221 and the second connection portion 222 are mainly used to be attached to adjacent outer walls of the battery 61, and then the grasping of the battery 61 is completed by the suction of the suction member 223. Compared with the conventional pressing and clamping manner, the first connection portion 221 and the second connection portion 222 can prevent the battery 61 from being damaged due to pressing when the battery 61 is gripped by adsorbing the adjacent surfaces of the battery 61. Meanwhile, when only the adjacent surface of the battery 61 is exposed and no opposite surface is exposed, grasping can be facilitated by the mechanical grab 22. In addition, the absorption mode can also effectively avoid abrasion caused by long-term friction between the mechanical grab 22 and the outer wall surface of the battery 61 in the grabbing process.

It is understood that the adsorption member 223 may be an electromagnet. When the casing of the battery 61 is made of magnetic material, the mechanical gripper 22 can directly take and place the battery 61 by the magnetic principle of the electromagnet. When the casing of the battery 61 is made of a non-magnetic material, an additional plate 611 (as shown in fig. 7) made of a magnetic material may be mounted on the outer wall of the battery 61, and the mechanical gripper 22 may attract the additional plate 611 to drive the battery 61 to pick and place. Of course, the present application is not limited to the specific type of the suction member 223, and the suction member may be sucked by a suction cup or the like.

Certainly, this application does not do the restriction to the concrete constitution of manipulator 20 yet, and manipulator 20 can have the degree of freedom of a plurality of directions to can get to unmanned aerial vehicle battery 61 that a plurality of angles parked and put.

Referring to fig. 2 and 8, in some embodiments, the fully automatic battery replacement station 100 for unmanned aerial vehicles includes a driving device 30, the driving device 30 is connected to the bottom plate 11 and the hangar door 12, and the driving device 30 is configured to drive the hangar door 12 to open or close.

So, full-automatic battery changing airport 100 of unmanned aerial vehicle accessible drive arrangement 30 comes to the automatic drive to hangar door 12 to make hangar door 12 open or close, make entire system's degree of automation higher.

Specifically, the number of the driving devices 30 may be plural, and the plural driving devices 30 are provided corresponding to the plural hangar doors 12, respectively. The driving device 30 can automatically drive the hangar door 12 to open or close so as to ensure the smooth flight of the unmanned aerial vehicle and the power switching process.

For example, when the drone is ready for takeoff, the drive means 30 can initiate opening of the hangar door 12 in preparation for takeoff work of the drone. After the unmanned aerial vehicle takes off, the driving device 30 can drive the garage door 12 to close, so as to prevent the unmanned aerial vehicle from entering the accommodating space 13 by dust and other sundries during working. Before the unmanned aerial vehicle returns to replace the battery 61, the driving device 30 can drive the garage door 12 to be opened, so that the unmanned aerial vehicle can smoothly return to the bottom plate 11 to replace the battery 61.

Referring to fig. 2 and 8, in some embodiments, the driving device 30 includes a telescopic rod 31, the telescopic rod 31 connects the bottom plate 11 and the garage door 12, the telescopic rod 31 pushes the garage door 12 to open during the extension of the telescopic rod 31, and the telescopic rod 31 drives the garage door 12 to close during the shortening of the telescopic rod 31.

So, flexible member 31 can smoothly realize driving hangar door 12, and flexible member 31's volume is less simultaneously, can reduce the occupation to accommodation space 13 inner space, avoids parking to unmanned aerial vehicle to produce the interference.

Specifically, the telescopic rod 31 may be a cylinder or a hydraulic cylinder, and one end thereof is connected to the bottom plate 11, and the other end thereof is connected to the garage door 12, so as to drive the garage door 12 to open or close by telescopic movement. Further, flexible member 31 and bottom plate 11's link and with the link of hangar door 12 all can set up to rotate and be connected, and then storehouse door 12 can expand completely when storehouse door 12 is opened to reach the angle of leveling mutually with bottom plate 11, increased the area of shutting down the region, safe and reliable more when making unmanned aerial vehicle take off and descend.

Referring to fig. 2 and 3, in some embodiments, the base plate 11 includes a central region 111 and an edge region 112 connected to the central region 111, the central region 111 is configured to park the drone, and the robot 20 is mounted to the edge region 112.

So, unmanned aerial vehicle accessible locating element fixed position central zone 111 department is shut down, and parking of unmanned aerial vehicle can not be interfered to manipulator 20 of marginal zone 112 department, and manipulator 20 can move to on the unmanned aerial vehicle of central zone 111 in order to change battery 61.

Specifically, the central region 111 may be located at the middle position of the bottom plate 11, and the central region 111 may have a circular or square shape. The edge region 112 is located to the side of the central region 111 and the robot 20 may be mounted at the edge region 112 close to the central region 111 to facilitate access to the battery 61 on the drone.

Referring to fig. 2 and 3, in some embodiments, the centering device 40 may be disposed on the central area 111, and the centering device 40 may move the stopped unmanned aerial vehicle to a designated position on the central area 111, so that the manipulator 20 may be more conveniently matched with the unmanned aerial vehicle, and the battery 61 may be more efficiently and quickly taken and placed. Meanwhile, the centering device 40 can also have a certain fixing effect on the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from shaking or deviating in the battery replacement process, and the battery replacement process is more stable.

The centering device 40 may include two driving blocks, which can move from two sides to the center, and the driving blocks can slide along a predetermined track. Of course, the centering device 40 may be a component in other manners, and the present application is not limited to the specific structure and centering manner of the centering device 40.

Referring to fig. 2 and 3, in some embodiments, the fully automatic battery replacement station 100 for unmanned aerial vehicles includes a charging device 50, the charging device 50 is disposed in the edge area 112 and is located at one side of the robot 20, and the charging device 50 is used for storing the battery pack 60 and charging the battery pack 60.

So, charging device 50 can deposit the group battery 60 of dismantling from unmanned aerial vehicle and charge to this group battery 60, and manipulator 20 can be installed the group battery 60 that charges completion on charging device 50 to unmanned aerial vehicle on so that unmanned aerial vehicle can incessant operation.

Specifically, the charging device 50 may be disposed at the edge region 112, for example, on two sides of the manipulator 20 or on a side of the manipulator 20 opposite to the central region 111, so as not to affect the taking and landing of the drone, and also facilitate the manipulator 20 to take and place the battery pack 60. The battery pack 60 may be a set of a plurality of batteries 61.

In order to make the unmanned aerial vehicle have a longer endurance, many unmanned aerial vehicles are currently equipped with two or more batteries 61, which may be referred to as a battery pack 60. Of course, the unmanned aerial vehicle is equipped with only a battery 61 with a larger capacity, that is, the battery pack 60 may also include a battery 61, and the present application does not limit this. In the present embodiment, the battery pack 60 is described as including two batteries 61.

When the battery 61 needs to be replaced during a period of operation of the unmanned aerial vehicle, the unmanned aerial vehicle returns to the central area 111 to stop. Manipulator 20 can take off the battery 61 that the electric quantity is not enough on unmanned aerial vehicle and put into to deposit and charge this battery 61 in charging device 50, still can install the battery 61 that the electric quantity is sufficient in charging device 50 to unmanned aerial vehicle simultaneously for unmanned aerial vehicle can high-efficiently accomplish the change of battery 61 fast, can continue to take off and carry out the operation.

It should be noted that, as shown in fig. 9, in some embodiments, the battery pack 60 on the drone may have a knob or other locking device 62 to lock the battery 61, so as to prevent the battery 61 from falling off during the flight of the drone and ensure the safety problem during the flight of the drone. Furthermore, manipulator 20 need unlock locking device 62 when dismantling the group battery 60 on the unmanned aerial vehicle and just can take off battery 61, still need lock locking device 62 after installing sufficient group battery 60 of electric quantity simultaneously.

Take unmanned aerial vehicle and manipulator 20 in this application as the example explanation, the last group battery 60 of unmanned aerial vehicle can lock group battery 60 through the knob in this application embodiment. Correspondingly, the end of the first connection part 221 on the robot 20 may be formed with a card slot adapted to the knob. When the battery pack 60 is replaced, the manipulator 20 is driven to align the card slot with the knob and rotate the card slot to unlock the battery pack 60, and then the manipulator 20 is driven to grasp and replace the battery 61 on the battery pack 60. After the replacement is completed, the manipulator 20 is driven again to lock the knob, and the unmanned aerial vehicle can safely and smoothly take off. Of course, the present application is not limited to the locking device 62 on the battery pack 60 and the unlocking structure 2211 on the robot 20.

Referring to fig. 1 and 2, in some embodiments, at least one of the hangar doors 12 is provided with an access door 125, and the access door 125 corresponds to the charging device 50. In this manner, when the charging device 50 malfunctions, the charging device 50 can be repaired by opening the access door 125. Of course, when the process through the access door 125 is inconvenient, the hangar door 12 may be opened for the maintenance process. This is not specifically limited by the present application.

Referring to fig. 2 and 3, in some embodiments, the charging device 50 is provided with a plurality of charging sites 51, each charging site 51 is configured to store one battery 61 and charge the battery 61, and each battery pack 60 includes at least one battery 61.

So, a plurality of fill electric potential 51 can guarantee better that unmanned aerial vehicle can have the group battery 60 of the completion of charging to change when returning, guarantee that unmanned aerial vehicle can uninterrupted duty, avoid appearing the circumstances that the group battery 60 of the completion of not charging changes to play certain guard action to group battery 60.

Specifically, the number of charging sites 51 may correspond to the number of batteries 61 on the battery pack 60. The plurality of charging sites 51 may be distributed around the circumference of the robot 20 to facilitate access of the battery 61 by the robot 20.

In some embodiments, multiple battery packs 60 on the charging device 50 are configured to power the same drone. So, can guarantee better that unmanned aerial vehicle returns can have the battery 61 that the electric quantity is sufficient to change when changing battery 61. Meanwhile, the structure in the machine nest 10 can be more compact and definite, and the operation is more convenient. If the charging device 50 for supplying power to a plurality of drones is equipped in the nest 10, the charging devices 50 may cause the charging position 51 to occupy an excessively large area, and the manipulator 20 may not place the battery 61 into the charging position 51 well, which may affect the battery replacement process of the drones.

Of course, in some other embodiments, a charging device 50 for powering multiple drones may be provided in the nest 10. Correspondingly, a plurality of manipulators 20 may be provided in the nest 10. The plurality of charging devices 50 are respectively disposed in a range where the corresponding robot 20 can complete pick and place. This is not specifically limited by the present application.

Referring to fig. 2 and 3, in some embodiments, the battery packs 60 in multiple charging locations 51 are configured to be replaced onto the drone in a round, with the full charge time of any one battery pack 60 being less than the total duration of the other charging locations 51 of the battery packs 60 and the battery packs 60 on the drone.

So, unmanned aerial vehicle returns can have the battery 61 that the electric quantity is sufficient to change when changing battery 61.

Specifically, because the charging speed of battery 61 will be less than unmanned aerial vehicle's power consumptive speed, and then when unmanned aerial vehicle returned and changed battery 61, battery 61 that its last time changed back was not full of electricity yet, and then battery pack 60 in a plurality of charging potential 51 changes to unmanned aerial vehicle in turn just can guarantee that unmanned aerial vehicle returns at every turn when, and the homoenergetic has at least one battery pack 60 to be in full charge state, guarantees unmanned aerial vehicle's operation effect.

For example, the battery pack 10 may be configured with a charging potential 51 for charging four battery packs 60, each battery pack 60 may be fully charged for about 90 minutes, and each battery pack 60 may have a maximum flight time of about 45 minutes, but each battery pack 60 may provide about 30 minutes of actual flight time for the drone in order to save a certain amount of safe power for return flight.

That is, after the drone has flown back using the first set of batteries 61, the second set of batteries 61 may be replaced to continue flying and the first set of batteries 61 may be charged. When the drone returns for a second time, it is possible to replace the third set of batteries 61 to continue the flight and to charge the second set of batteries 61. At this point the first group of batteries 61 has been charged approximately 1/3. When the drone returns for the third time, the fourth set of batteries 61 may be replaced to continue flying and the third set of batteries 61 may be charged. The first group of cells 61 is now charged with about 2/3 f and the second group of cells 61 is charged with about 1/3 f. When the drone returns for the fourth time, the first set of batteries 61 is already at full charge, and the first set of batteries 61 can be replaced again to continue flying and charge the fourth set of batteries 61, with the second set of batteries 61 being charged at about 2/3 and the third set of batteries 61 being charged at about 1/3. And the unmanned aerial vehicle at least can have a group of batteries 61 to be in a full-power state for replacement when returning, so that the unmanned aerial vehicle can continuously operate.

Certainly, this application does not do the restriction to the time of flight of every group battery 61 of unmanned aerial vehicle and the time of charging of battery 61, does not do the restriction to charging device 50's quantity simultaneously yet, specifically can design according to actual conditions.

To sum up, the full charge duration of any battery pack 60 is not less than the total endurance time of the battery packs 60 at other charge levels 51 and the battery packs 60 on the unmanned aerial vehicle, so that the unmanned aerial vehicle can keep uninterrupted operation.

Referring to fig. 1 and 2, in some embodiments, a plurality of hangar doors 12 are connected to each other in a sealed edge connection, the plurality of hangar doors 12 being configured to open and close in sequence.

So, the marginal sealing connection of hangar door 12 can play fine dustproof and waterproof etc. effect, and hangar door 12 is opened in order and can be avoided sealed department to opening or closing of hangar door 12 to produce the interference.

Specifically, between any two adjacent hangar doors 12, a sealing strip may be provided on one of the hangar doors 12 to seal a gap between the adjacent hangar doors 12, so as to play a certain dustproof role, and prevent dust, impurities and the like from entering when the hangar doors 12 are closed. In addition, between two adjacent hangar doors 12, a water chute 126 protruding towards the other hangar door 12 can be formed on one hangar door 12 to play a role in guiding water, so that the problems that when the hangar doors 12 are closed, water flows into the accommodating space 13 along the gap between the hangar doors 12, and the internal elements are short-circuited or pollute the accommodating space 13 and the like are avoided.

Furthermore, when the hangar door 12 is opened, the hangar door 12 provided with the water chute 126 or the sealing strip needs to be opened later, and when the hangar door 12 is closed, the hangar door 12 provided with the water chute 126 or the sealing strip needs to be closed first, so that the phenomenon that the opening or closing of the adjacent hangar door 12 is influenced by the protruding water chute 126 or the sealing strip when the hangar door 12 is opened or closed is avoided.

In one embodiment, as shown in fig. 2, the front door 121 may be formed with a water chute 126 toward the first side door 123 and the second side door 124, and the rear door 122 may be formed with a water chute 126 toward the first side door 123 and the second side door 124. When the garage door 12 is closed, the chutes 126 of the front door 121 and the rear door 122 are located inside the first side door 123 and the second side door 124.

When the hangar door 12 is opened, the first side door 123 and the second side door 124 need to be opened first, and then the front door 121 and the rear door 122 need to be opened, and the first side door 123, the second side door 124, the front door 121 and the rear door 122 are opened in sequence, so that the water chute 126 cannot be hung on the first side door 123 and the second side door 124. Correspondingly, when the hangar door 12 is closed, the front door 121 and the rear door 122 need to be closed first, then the first side door 123 and the second side door 124 need to be closed, the rear door 122, the front door 121, the second side door 124 and the first side door 123 are closed in sequence, the first side door 123 and the second side door 124 can be located above the water chute 126, and the water chute 126 is located above a gap between the first side door 123 and the second side door 124 and between the front door 121 and the rear door 122, so that water flowing in from the gap can be guided, and a waterproof effect is achieved.

Of course, the above-mentioned embodiment is only an implementation manner, the present application does not limit the specific forming position of the water chute 126, and the opening and closing sequence of the hangar door 12 may be cooperatively set according to the forming position of the water chute 126.

In the description herein, references to the description of the terms "one embodiment," "certain embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: numerous changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. The utility model provides a full-automatic electric airport that trades of unmanned aerial vehicle based on multiaxis manipulator which characterized in that includes:

the machine nest comprises a bottom plate and a plurality of machine room doors which are rotatably connected with the bottom plate, each machine room door can be opened and closed, the bottom plate is upwards and completely exposed when all the machine room doors are in an opened state, and all the machine room doors are closed and form an accommodating space with the bottom plate; and

the manipulator is arranged on the bottom plate, the manipulator has degrees of freedom in at least three directions, and the manipulator is accommodated in the accommodating space when all the garage doors are in a closed state.

2. The full-automatic unmanned aerial vehicle battery replacement station as claimed in claim 1, wherein the full-automatic unmanned aerial vehicle battery replacement station comprises a driving device, the driving device is connected with the bottom plate and the hangar door, and the driving device is used for driving the hangar door to open or close.

3. The unmanned aerial vehicle full-automatic battery replacement station as claimed in claim 2, wherein the driving device comprises a telescopic rod, the telescopic rod is connected with the bottom plate and the hangar door, the telescopic rod pushes the hangar door to open during the extension of the telescopic rod, and the telescopic rod drives the hangar door to close during the shortening of the telescopic rod.

4. The unmanned aerial vehicle full-automatic swap airport according to claim 1, wherein the base plate comprises a central area and an edge area connected to the central area, the central area being configured to park the unmanned aerial vehicle, the robot being mounted at the edge area.

5. The unmanned aerial vehicle full-automatic battery replacement station as claimed in claim 4, wherein the unmanned aerial vehicle full-automatic battery replacement station comprises a charging device, the charging device is disposed in the edge region and located at one side of the manipulator, the charging device is used for storing and charging battery packs, and each battery pack comprises at least one battery.

6. The full-automatic unmanned aerial vehicle battery replacement station as claimed in claim 5, wherein an access door is provided on at least one of the hangar doors, and the access door corresponds to the charging device.

7. The unmanned aerial vehicle full-automatic battery replacement station as claimed in claim 5, wherein the charging device is provided with a plurality of charging stations, each of the charging stations being configured to store and charge one of the batteries.

8. The unmanned aerial vehicle full-automatic battery replacement station as claimed in claim 7, wherein a plurality of the battery packs on the charging device are configured to supply power to the same unmanned aerial vehicle.

9. The unmanned aerial vehicle full-automatic battery replacement station as claimed in claim 8, wherein the battery packs in the plurality of charging sites are configured to be replaced onto the unmanned aerial vehicle in turn, and a full charging time of any one of the battery packs is less than a total cruising time of the battery packs in the other charging sites and the battery packs on the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle always has a fully charged battery to perform a patrol task.

10. The unmanned aerial vehicle full-automatic battery replacement station of claim 1, wherein the plurality of hangar doors are connected at an edge seal that interconnects, the plurality of hangar doors configured to open and close in sequence.

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