CN106864766B - The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane - Google Patents
The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane Download PDFInfo
- Publication number
- CN106864766B CN106864766B CN201710157192.0A CN201710157192A CN106864766B CN 106864766 B CN106864766 B CN 106864766B CN 201710157192 A CN201710157192 A CN 201710157192A CN 106864766 B CN106864766 B CN 106864766B
- Authority
- CN
- China
- Prior art keywords
- battery
- handgrip
- unmanned plane
- clamp device
- gripper jaw
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000000034 method Methods 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 128
- 210000000078 claw Anatomy 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims description 19
- 230000005611 electricity Effects 0.000 claims description 9
- 239000007787 solid Substances 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 abstract description 8
- 238000011105 stabilization Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 description 11
- 238000007689 inspection Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 241000375392 Tana Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000005662 electromechanics Effects 0.000 description 2
- 230000004438 eyesight Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000001556 precipitation Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
- B64F1/125—Mooring or ground handling devices for helicopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Remote Sensing (AREA)
- Manipulator (AREA)
- Battery Mounting, Suspending (AREA)
Abstract
The invention discloses a kind of battery clamp device independently continued a journey applied to unmanned plane and replacement device and methods, it solves the problems, such as that unmanned machine battery stabilization clamp takes replacement, zigzag block is set on handgrip, it can be with fastening clamp battery, effectively solve battery downslide on the move, and it can guarantee that the depth of the clamping of battery two sides is identical with position, it avoids clamping battery deflection caused by because of position and depth difference, it cannot be attached on battery compartment or unmanned plane, its technical solution are as follows: including clip claw mechanism, the clip claw mechanism includes clamping jaw ontology, the clamping jaw ontology is connected with the first gripper jaw part and the second gripper jaw part, first gripper jaw part is fixedly connected with the first handgrip, second gripper jaw part and the second handgrip are fixedly connected；The opposite face of first handgrip and the second handgrip is equipped with zigzag block.
Description
Technical field
The present invention relates to air vehicle technique fields, clamp more particularly to a kind of battery independently continued a journey applied to unmanned plane
Device and replacement device and method.
Background technique
It is promoted as unmanned plane continues to develop, unmanned plane has been applied to various fields occasion (such as agricultural spray, electric power
Inspection, disaster prevention emergency, mapping of taking photo by plane, relay communication etc.), ground installation is no longer auxiliary facility and subordinate position, is had become
The key of a whole set of safe and stable efficient operation of unmanned plane.
Some requirements of current civilian unmanned plane are such as hovered, VTOL only has multi-rotor aerocraft that can accomplish, nothing
Man-machine application is also mostly four-axle aircraft, and the principle of electronic four-axle aircraft determines that it must be with motor, and the energy content of battery
Density is limited, and the defect that causes currently to continue a journey is difficult to overcome.
Currently, be required to extend cruise duration by way of replacing battery to meet unmanned plane motor continuation of the journey problem,
In unmanned plane use process, if unmanned plane electricity is lower than setting value, unmanned plane drop to unmanned plane station replacement battery, this
Process needs quick, stable, high-precision completion, and just to the clamp device of battery, more stringent requirements are proposed for this, existing folder
Taking device is using vacuum chuck mode or mechanical gripper mode, and vacuum chuck replaces battery to operating environment requirements height, design
Complexity, vacuum tube are easy to block under rugged environment；Mechanical gripper mode is directly to clamp battery one with the handgrip of two cooperations
Side is easy to happen battery is not clamped one and is sloped downwardly, handgrip clamping is insecure, no in the mobile replacement process of battery
The precision of unmanned plane battery altering is only influenced, while also easilying lead to battery not install.
Therefore, in unmanned plane independently continuation of the journey system, a battery clamp device efficient, stable, easy to maintain is needed.
In conclusion taking replacement problem, still shortage effective solution side for unmanned machine battery stabilization clamp in the prior art
Case.
Summary of the invention
In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a kind of batteries independently continued a journey applied to unmanned plane
Clamp device, with battery reliable fit, battery clamping is more fastened, more stable in clamping battery transmission process.
To achieve the above object, the present invention adopts the following technical solutions:
A kind of battery clamp device independently continued a journey applied to unmanned plane, including clip claw mechanism, the clip claw mechanism include
Clamping jaw ontology, the clamping jaw ontology are connected with the first gripper jaw part and the second gripper jaw part, first gripper jaw part and first
Handgrip is fixedly connected, and second gripper jaw part and the second handgrip are fixedly connected；First handgrip and the second handgrip it is opposite
Face is equipped with zigzag block.
Battery clamp device of the invention drives handle component to clamp battery by clip claw mechanism, clamping jaw and battery
Clamping cooperation is more reliable；By the way that zigzag block, contact friction of the handgrip with battery when clamping battery are arranged on two handgrips
Power is bigger, and clamping is more firm, avoids the problem that battery clamping glances off.
Further, the clamping jaw ontology is chimeric is set in fixture block, and the fixture block is with the card with clamping jaw body fits
Slot.Card slot is set on fixture block, realizes the embedded combination of card slot and clamping jaw ontology, fast and reliable can connect.
Further, the clamping jaw ontology also passes through fastener and is fixedly connected with fixture block.Pass through card slot clamping in fixture block
Under the premise of clamping jaw ontology, it can be fixedly secured clamping jaw ontology using fastener, effectively keep clamping jaw in mobile replacement cell process
The stabilization of mechanism.
Further, the clip claw mechanism is connect with power device.Clip claw mechanism folding is driven by power device, in turn
Realize that the folding of two handgrips, realization grip or lay down battery.
Further, first handgrip with the first gripper jaw part cooperation at be arranged the first groove, the first gripper jaw part
It is entrenched in the first groove.First groove is set on the first handgrip, embedded group for realizing the first handgrip and the first gripper jaw part
It closes, fast and reliable can connect.
Further, first gripper jaw part also passes through fastener and is fastenedly connected with the first handgrip.In the first handgrip
Under the premise of first the first gripper jaw part of groove clamping, it can be fixedly secured the first gripper jaw part using fastener, effectively protected
Hold the stabilization of the first handgrip in mobile replacement cell process.
Further, second handgrip with the second gripper jaw part cooperation at be arranged the second groove, the second gripper jaw part
It is entrenched in the second groove.Second groove is set on the second handgrip, embedded group for realizing the second handgrip and the second gripper jaw part
It closes, fast and reliable can connect.
Further, second gripper jaw part also passes through fastener and is fastenedly connected with the second handgrip.In the second handgrip
Under the premise of second the second gripper jaw part of groove clamping, it can be fixedly secured the second gripper jaw part using fastener, effectively protected
Hold the stabilization of the second handgrip in mobile replacement cell process.
Preferably, first handgrip or the second handgrip, which are equipped with, presses motion block, the setting of battery side with what cell switch cooperated
With the sawtooth sheet body of zigzag block cooperation.Motion block is pressed by being arranged on the first handgrip or the second handgrip, it can be in replacement electricity
Cell switch is first closed before pond, avoids plugging the damage to battery；Setting and zigzag block on handgrip in battery side
The zigzag sheet body of cooperation, it is ensured that the cooperation stability of handgrip and battery effectively solves battery and glances off on the move
The problem of.
In order to overcome the problems, such as that prior art battery altering low efficiency, the present invention provide one kind and independently continue applied to unmanned plane
The battery replacement device of boat, including battery clamp device as described above, the battery clamp device are equipped with mobile in Y-axis
In mechanism, the Y-axis moving mechanism is equipped in Z axis mobile mechanism, and the Z axis mobile mechanism is equipped in X-axis shifting
On motivation structure.
In order to overcome the problems, such as that battery altering precision is not high in the prior art, the present invention provides one kind and is applied to unmanned plane certainly
The working method of the battery replacement device of main continuation of the journey, comprising the following steps:
(1) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery clamp device mobile
To unmanned plane battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, closes battery；
(3) clip claw mechanism drives the first handgrip and the second handgrip to clamp battery, the sawtooth of zigzag block and battery side
Sheet body cooperation；
(4) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery clamp device mobile
To battery compartment, battery is returned and is put in battery compartment；
(5) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to battery compartment another
The position of one battery repeats step (3), battery is taken out；
(6) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to unmanned electromechanics
Chi Cangweizhichu touches cell switch by motion block, opens battery；
(7) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism return initial position.
A kind of unmanned plane continuation of the journey system, including guidance landing and fixed device, for guiding unmanned plane precisely to land and admittedly
Determine unmanned plane to keep stablizing；Battery altering dress as described above is arranged in the guidance landing and fixation device side portion corresponding matching
It sets, the guidance landing and fixed device include limiting slot described at least two, and the bottom of the limiting slot is set to fixed station
On, identification point is provided in the middle part of fixed station, unmanned plane positions unmanned plane machine core by identification point, and fixed station is recessed
Slot structure setting, convenient for the receiving to subsequent fixed stake, slide bar, vertical plane or bracket along fixed station circumferencial direction cloth
It sets；The battery clamp device of battery replacement device is correspondingly arranged in fixed station side, and unmanned plane drop to guidance landing and fixes
After device, the battery of battery replacement device clamping unmanned plane is replaced.
In the positioning device, unmanned plane realizes coarse positioning using control system, and coarse positioning is vertical apart from landing platform
Free-falling in the section of distance 5--10cm.The bootable unmanned plane of limiting slot in accurate positioning device is reached using inertia landing
To being accurately positioned and fixed, in this way between two limiting slots, can manually or using mechanical equipment to the battery of unmanned plane into
Row replacement, or carry out other follow-up works.
As in optimal case, the quantity of the limiting slot is identical as the quantity of unmanned plane horn, by each machine
The limit of the wing, it is ensured that the precision of unmanned plane position landing is controlled in submillimeter rank.
If unmanned plane carries picture pick-up device, spud pile is set at the middle part of the fixed station, the identification point, which is set to, to be fixed
In stake, the imagination equipment that unmanned plane carries identifies that recognition speed is fast to identification point, alternatively, setting is taken the photograph on spud pile surface
As equipment, picture pick-up device is connect with controller, to carry out coarse positioning, further, the bottom of the fixed station to unmanned plane machine core
Portion and the fixed position to adjust limiting slot by the rotation of fixed station of rotating mechanism, rotating mechanism can be rotating electric machine,
Unmanned plane by identification point carry out a point positioning, compared in traditional technology to four points of unmanned plane horn or six
Point carries out location control, realizes that sinking speed is fast, the follow-up work after landing has been effectively ensured is carried out.
The picture pick-up device is set on spud pile, is effectively reduced the weight of unmanned plane, is improved the flight of unmanned machine equipment
Time, controller positions unmanned plane machine core position by picture pick-up device, to be positioned to unmanned plane machine core, a point
Opposite four points of positioning positioning for, positioning is relatively easy, then cooperates the coarse positioning of four horns, landing place accuracy
It is higher.
Further, in order to improve the adaptability of the positioning device, the unmanned plane of different horn length is adapted to, described solid
The circumference for determining stake is fixed with slide bar, and slide bar is fixed with sliding block, and slidably relative to slide bar, the limiting slot is fixed on cunning to sliding block
On block, to pass through the distance between the mobile adjusting limiting slot of sliding block and spud pile.
Fastener is set on the sliding block, fastener passes through sliding block and sliding block is fixed on slide bar, such structure setting,
Position of the sliding block relative to slide bar can be adjusted, is also achieved that limiting slot relative to spud pile namely according to the length of horn
The position of unmanned plane machine core.
The limiting slot includes supporting for bottom setting, supports side and connect with landing face, face of landing for plane or curved surface,
Landing face is obliquely installed with supporting, and after unmanned plane horn supporting leg and landing face are in contact, are dropped into and is supported along landing face
Upper realization is accurately positioned, and locating slot limits unmanned plane horn by the setting in face of landing in limiting slot, to improve landing
Precision, the positioning slot structure is simple, and positioning accuracy is high, can achieve submillimeter level.
In addition, the second landing face is arranged in the other side supported in the limiting slot, the second landing face is set with inclination is supported
Set, landing face, support with the second landing face formed V-type shape, it is such two landing face from both direction to the branch of unmanned plane horn
Support leg carries out limit control, has widened application range, and the limiting slot is the truncated conical shape of hollow handstand.
Alternatively, the limiting slot be it is U-shaped, when unmanned plane horn supporting leg and U-shaped limiting slot inner wall collide, nobody
Machine horn supporting leg slides inside limiting slot to bottom.
Vertical plane is set between the landing face and the second landing face；
Further, it is provided with the card slot for being used to support unmanned plane horn at the top of a vertical plane, passes through card slot
Setting, after unmanned plane is fallen into, is fixed unmanned plane, the height of card slot can be adjusted according to the concrete model of unmanned plane
Section, under normal circumstances, the height of card slot and the radius for being more than or equal to unmanned plane horn.
The vertical plane is connect with the landing face, and above-mentioned limiting slot constitutes an open-topped accommodation space, alternatively,
The vertical plane is set between the landing face and the second landing face, when unmanned plane landing, if unmanned plane horn supports
Leg position glances off, and the landing face inner surface in limiting slot is in contact with unmanned plane horn supporting leg bottom, supporting leg by
The reason of power falls downward is dropped into support and is supported, and the landing face on both sides namely V-type shape is arranged, to supporting leg
It is limited, realizes the accurate positioning of unmanned plane, the card slot of cradle top has horn after the landing of unmanned plane position
Effect supports and fixes, the position of effective guarantee unmanned plane landing.
In addition, landing face or the second landing face relative to the angle A supported at 30 degree to 80 degree, limit groove height H can
Variation, occurrence depend on the height of unmanned plane supporting leg.
The variable-width that limit trench bottom supports, occurrence depend on the width of unmanned plane supporting leg.
Limiting slot card slot variable-width, occurrence depend on the diameter of unmanned plane horn.
If the floor projection distance in face of landing is L, L=H/tanA, limits groove height H and angle A mutually restricts.
A kind of unmanned plane continuation of the journey system, including vision coarse positioning module, fine positioning module and battery replacement device,
The vision coarse positioning module includes image collecting device, and image collecting device for acquiring unmanned plane image in real time
And it is sent to station internal controller and then obtains the aerial three-dimensional coordinate point of unmanned plane, then control the drop of unmanned plane through on-board controller
The coarse positioning of unmanned plane is realized in the direction of drop height degree and unmanned plane head；
The fine positioning module is used to guide unmanned plane precision approach after unmanned plane drops to preset height；It is accurately positioned
Module includes guidance landing and fixed device, and the guidance landing and fixed device include limiting slot described at least two, institute
The bottom for stating limiting slot is set on fixed station, identification point is provided in the middle part of fixed station, unmanned plane is by identification point to nobody
Machine machine core is positioned, and fixed station is the circumferential directions of groove structure setting, vertical plane or bracket along fixed station,
It is slid into limiting slot in unmanned plane descent by unmanned plane horn and unmanned plane is fixed；
Battery replacement device as described above, battery altering is arranged in the guidance landing and fixation device side portion corresponding matching
The battery clamp device of device is correspondingly arranged in fixed station side, after unmanned plane drop to guidance landing and fixed device, battery
The battery of more changing device clamping unmanned plane is replaced.
Compared with prior art, the beneficial effects of the present invention are:
Using handgrip is equipped on clip claw mechanism, handle component is driven to clamp battery, clamping jaw by clip claw mechanism
It is more reliable with the clamping cooperation of battery, while the size of battery is different, the stroke of required clip claw mechanism is different, and handgrip can be effective
It avoids changing clip claw mechanism because battery size is changed.
Using the setting zigzag block on handgrip, and it is equipped with sawtooth sheet body on battery, can effectively solve electricity
Pond downslide on the move, and can guarantee that the depth of the clamping of battery two sides is identical with position, it avoids because of position and depth
Difference causes clamping battery deflection, cannot be attached on battery compartment or unmanned plane.
Clip claw mechanism is fixed using card slot is arranged on fixture block, clip claw mechanism can be made more stable, avoided because clipping
Clip claw mechanism tilts when battery moves, and influences the precision for changing battery.
Using being equipped on handgrip by motion block, cell switch can be closed when taking battery, avoid hot plugging electricity
Pond leads to the damage of unmanned plane electronic component；Cell switch can also be opened when installing battery, the battery after making installation can
Immediately enter work.
The present invention provides a kind of modular battery clamp device, can be applicable in and be cooperated to any unmanned plane replacement battery
It in train of mechanism, has wide range of applications, and can efficient, reliable, high-precision realization battery altering.
Detailed description of the invention
The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows
Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.
Fig. 1 is battery clamp device top view of the present invention；
Fig. 2 is battery clamp device main view of the present invention；
Fig. 3 is fixture block schematic diagram of the present invention；
Fig. 4 is guidance landing and fixing device schematic diagram；
The position Fig. 5 limiting slot schematic diagram；
In figure, 1 clamping jaw ontology, 2 first gripper jaw parts, 3 second gripper jaw parts, 4 first handgrips, 5 second handgrips, 6 sawtooth
Shape block, 7 fixture blocks, 8 fasteners, 9 servo motors, 10 first grooves, 11 press motion block, 12 card slots, 13 screw sliders；
14. fixed station, 15. limiting slots, 16. sliding blocks, 17. slide bars, 18. spud piles, 19. landing faces, 20. support, 21. cards
Slot, 22. vertical planes
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another
It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular
Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet
Include " when, indicate existing characteristics, step, operation, device, component and/or their combination.
As background technique is introduced, unmanned plane battery clamping replacement problem exists in the prior art, in order to solve such as
On technical problem, present applicant proposes a kind of battery clamp devices independently continued a journey applied to unmanned plane.
In a kind of typical embodiment of the application, independently continue a journey as shown in Figure 1, providing one kind and being applied to unmanned plane
Battery clamp device, including clip claw mechanism, clip claw mechanism include clamping jaw ontology 1, and clamping jaw ontology 1 is connected with the first gripper jaw part
2 and second gripper jaw part 3, the first gripper jaw part 2 be fixedly connected with the first handgrip 4, the second gripper jaw part 3 and the second handgrip 5 are solid
Fixed connection；The opposite face of first handgrip 4 and the second handgrip 5 is equipped with zigzag block 6.Handgrip is driven by clip claw mechanism
Component clamps battery, and the clamping cooperation of clamping jaw and battery is more reliable；By the way that zigzag block is arranged on two handgrips, clamping
The contact friction force of handgrip and battery is bigger when battery, and clamping is more firm, avoids the problem that battery clamping glances off.
Clip claw mechanism effectively can drive handgrip to be opened and closed, while can pass through using electronic clamping jaw or Pneumatic clamping jaw etc.
Control module controls it, and guarantees the precision of battery altering, and when use can be according to clamping required by task chucking power selection
Suitable electronic clamping jaw or Pneumatic clamping jaw save cost.
Clamping jaw ontology 1 is chimeric to be set in fixture block 7, and fixture block 7 is with the card slot 12 with clamping jaw body fits.It is set on fixture block
Card slot is set, the embedded combination of card slot and clamping jaw ontology is realized, fast and reliable can connect.
In order to more firm stationary jaw ontology, clamping jaw ontology 1 is also fixedly connected by fastener 8 with fixture block 7, tightly
Firmware 8 can be using screw etc.；Wire hole is all set on clamping jaw ontology 1 and fixture block 7, the fasteners such as screw or screw are passed through two
The wire hole of person completes being fastened and fixed for the two.It, can jail using fastener under the premise of fixture block passes through card slot clamping clamping jaw ontology
Gu stationary jaw ontology effectively keeps the stabilization of clip claw mechanism in mobile replacement cell process.
Clip claw mechanism is connect with power device, and power device uses servo motor 9 in the present embodiment.Pass through power device band
Dynamic clip claw mechanism folding, and then realize the folding of two handgrips, realization grips or lays down battery.When needing to clamp battery, pass through
Controller sends a signal to driver, and the running driving clip claw mechanism of servo motor 9 drives the first handgrip and the second handgrip clamping electricity
It is replaced in pond.
First handgrip 4 with 2 cooperation of the first gripper jaw part at the first groove 10 is set, the first gripper jaw part 2 is entrenched in the
In one groove 10.First groove is set on the first handgrip, realizes the embedded combination of the first handgrip and the first gripper jaw part, it can be with
Fast and reliable connection.
In order to more firm the first gripper jaw part of fixing, the first gripper jaw part 2 also passes through fastener and the first handgrip 4
Both it is fastenedly connected, wire hole is all set on the first gripper jaw part 2 and the first handgrip 4, the fasteners such as screw or screw are passed through
Wire hole complete both be fastened and fixed.Under the premise of the first handgrip passes through first groove the first gripper jaw part of clamping, using tight
Firmware can be fixedly secured the first gripper jaw part, effectively keep the stabilization of the first handgrip in mobile replacement cell process.
Second handgrip 5 with 3 cooperation of the second gripper jaw part at the second groove is set, the second gripper jaw part 3 is entrenched in second
In groove.Second groove is set on the second handgrip, realizes the embedded combination of the second handgrip and the second gripper jaw part, it can be quick
It is reliably connected.
In order to more firm the second gripper jaw part of fixing, the second gripper jaw part 3 also passes through fastener and the second handgrip 5
Both it is fastenedly connected, wire hole is all set on the second gripper jaw part 3 and the second handgrip 5, the fasteners such as screw or screw are passed through
Wire hole complete both be fastened and fixed.Under the premise of the second handgrip passes through second groove the second gripper jaw part of clamping, using tight
Firmware can be fixedly secured the second gripper jaw part, effectively keep the stabilization of the second handgrip in mobile replacement cell process.
First handgrip 4 or the second handgrip 5, which are equipped with, presses motion block 11, the setting of battery side and zigzag with what cell switch cooperated
The sawtooth sheet body that block 6 cooperates.Motion block is pressed in setting on the first handgrip or the second handgrip, and electricity can be first closed before replacing battery
Pond switch, avoids plugging the damage to battery；The zigzag of setting and zigzag block cooperation on handgrip in battery side
Sheet body, it is ensured that the cooperation stability of handgrip and battery effectively solves the problems, such as that battery glances off on the move, battery side
The sawtooth sheet body in portion is also possible to integrally formed with battery either be affixed on battery.Sawtooth is had on the inside of handgrip
Shape block, with the dentation piece mates on battery, in effective solution actual motion, clamping battery glides, cause
Battery clamps the problem of deflection.
In the typical embodiment of another kind of the application, a kind of battery independently continued a journey applied to unmanned plane is provided more
Changing device, including battery clamp device as above, battery clamp device is equipped in Y-axis moving mechanism, Y-axis moving mechanism
It is equipped in Z axis mobile mechanism, Z axis mobile mechanism is equipped in X-axis mobile mechanism.Fixture block 7 can be I-shaped,
Stationary jaw ontology 1 is blocked with card slot 12 in upside, has another card slot on the downside of fixture block 7 and blocks fixed screw slider 13, lead screw
Sliding block 13 is connect with Y-axis moving mechanism.
Certainly, three axis mobile mechanisms in battery replacement device, which can also replace, is able to drive battery clamping dress using other
Set the mechanism moved in cubic space.
The region that fixed point is maked an inspection tour is often needed to some needs, the automatic inspection of unmanned plane, tour personnel can be carried out
Or other staff only need to send corresponding instruction in control room, unmanned plane will automatic takeoff corresponding region is maked an inspection tour, work as nothing
When man-machine electricity is lower than setting value, unmanned plane can drop to the unmanned plane station being disposed about, and carry out autonomous battery altering, continued
At the task of tour.This process is very stringent to the clamp device requirement of battery, according to the mechanical gripper of the prior art, in reality
During border is tested, by taking three axis mobile mechanisms as an example, X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism is all in accordance with setting
The position of battery is changed in fixed operation to unmanned plane, insecure due to clamp device clamping after clamping battery is extracted, battery not by
The side of clamping glides, even if only passing through Y-axis moving mechanism handle in the case where X-axis mobile mechanism and constant Z axis mobile mechanism
Battery is pacified to unmanned plane battery compartment, also cannot achieve installation.And after using battery clamp device of the invention, X-axis mobile mechanism,
Y-axis moving mechanism, Z axis mobile mechanism can be replaced with clip claw mechanism cooperation with reliable retention battery, be not in that battery is inclined
Tiltedly, replacement battery that can be quick, stable, and can guarantee the precision of battery altering.
In the typical embodiment of another of the application, a kind of battery independently continued a journey applied to unmanned plane is provided more
The working method of changing device, comprising the following steps:
(1) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery clamp device mobile
To unmanned plane battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, closes battery；
(3) clip claw mechanism drives the first handgrip and the second handgrip to clamp battery, the sawtooth of zigzag block and battery side
Sheet body cooperation；
(4) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and drive battery clamp device mobile
To battery compartment, battery is returned and is put in battery compartment；
(5) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to battery compartment another
The position of one battery repeats step (3), battery is taken out；
(6) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to unmanned electromechanics
Chi Cangweizhichu touches cell switch by motion block, opens battery；
(7) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism return initial position.
In order to enable those skilled in the art can clearly understand the technical solution of the application, below with the present apparatus
Operation process the present invention is described in detail:
Battery clamp device is equipped in Y-axis moving mechanism, and Y-axis moving mechanism is equipped in Z axis mobile mechanism
On, Z axis mobile mechanism is equipped in X-axis mobile mechanism.
Unmanned plane drops on fixed bracket, and X-axis mobile mechanism drives Z axis mobile mechanism to move to nobody in x-axis direction
The position in machine battery storehouse.
After the completion of x-axis movement, Z axis mobile mechanism drive Y-axis moving mechanism is moved downwardly in the z-axis direction and nobody
Machine battery storehouse is the same as high.
After the completion of z-axis movement, Y-axis moving mechanism drives battery clamp device to move forwards on the y axis.
Cell switch is touched by motion block 11, closes battery, clip claw mechanism is closed later, and the first handgrip 4 and the second handgrip 5 are grabbed
Firmly battery, the sawtooth sheet body snap-fit of zigzag block and battery side on the first handgrip 4, the sawtooth on the second handgrip 5
The sawtooth sheet body snap-fit of shape block and the battery other side.
Y-axis moving mechanism drives battery clamp device to withdraw in y-axis direction, and after the completion of movement, Z axis mobile mechanism drives Y
Axis mobile mechanism is promoted in the z-axis direction, and after the completion of movement, X-axis mobile mechanism drives Z axis mobile mechanism to return in the direction of the x axis
It backhauls dynamic.
X-axis mobile mechanism, Y-axis moving mechanism, the cooperation running of Z axis mobile mechanism put battery into battery compartment, and from next
A battery compartment takes battery, gets battery and moves to unmanned plane battery bin location, installs battery, open unmanned machine battery by motion block 11
Switch.
X-axis mobile mechanism, Y-axis moving mechanism, Z axis mobile mechanism return initial position.
A kind of unmanned plane continuation of the journey system, including guidance landing and fixed device, for guiding unmanned plane precisely to land and admittedly
Determine unmanned plane to keep stablizing；Battery replacement device as described above is arranged in guidance landing and fixation device side portion corresponding matching, such as
Shown in Fig. 4-Fig. 5, guidance landing and fixed device include at least two limiting slots 15, and the bottom of limiting slot 15 is set to fixed station 14
On, support 20 and be fixed with fixed station 14 by bolt, fixed station 14 is that groove structure is arranged, be convenient for subsequent fixed stake,
The receiving of slide bar.
Spud pile 18 is set at the middle part of the fixed station 14, the identification point is set to the middle part of spud pile 18, passes through one
The setting of a identification point, it can be achieved that unmanned plane machine core coarse positioning, on 18 surface of spud pile, picture pick-up device is set, picture pick-up device with
Controller connection to carry out coarse positioning to unmanned plane, then cooperates the setting of limiting slot, realizes to unmanned plane horn supporting leg position
Positioning, and effectively unmanned plane horn is supported by card slot, the bottom of the fixed station and rotating mechanism it is fixed with
The position of limiting slot is adjusted by the rotation of fixed station, rotating mechanism can be rotating electric machine.
Controller is set in the housing, and windproof and dustproof to carry out, controller is connect with meteorological sensor, and meteorological sensor is real-time
Measure external environment, including wind direction, wind speed, precipitation, temperature and humidity are sent to station internal controller, by with network weather
Element control, analyzing environment in real time influences, whether determining unmanned plane landing control.Controller passes through in cloud server and monitoring
Central server is in communication with each other, and monitoring central server is also connected with display module, is monitored in real time by monitoring central server
The work state information of intelligent landing station system.
In addition, the unmanned plane of different horn length is adapted to, in the spud pile to improve the adaptability of the positioning device
18 circumference is fixed with slide bar 17, and slide bar 17 and sliding block 16 are fixed, and slidably relative to slide bar 17, limiting slot 15 is fixed for sliding block 16
In on sliding block 16；
Fastener is set on the sliding block 16, and fastener passes through sliding block 16 and sliding block 16 is fixed on slide bar 17, such
Structure setting can adjust position of the sliding block 16 relative to slide bar 17 according to the length of horn, be also achieved that limiting slot relative to
The adjustment of machine core position.
The V-shaped arrangements in two sides that limiting slot 15 opposes, the another two sides of limiting slot 15 are respectively vertically arranged as vertical plane 22,
Wherein, the side that limiting slot 15 is vertically arranged is equipped with the card slot 21 for being used to support unmanned plane horn, and card slot is circle-arc profile,
Rubber pad is set in card slot 21, to be protected to horn, meanwhile, by the setting of rubber pad, because of the elastic reaction of rubber pad,
It can be further fixedly secured unmanned plane, the height of card slot can be adjusted according to the concrete model of unmanned plane, under normal circumstances,
The height of card slot and the radius for being more than or equal to unmanned plane horn, therefore the shape of card slot and the shape of unmanned plane horn are close
, it is circular shape.
Limiting slot 15 includes supporting 20, supports and supports 20 two sides in strip rectangle shape and be respectively arranged a landing face 19, and another two
The vertical plane 22 is respectively arranged in side.
Above-mentioned limiting slot 15 constitutes an open-topped accommodation space, the drop when unmanned plane landing, in limiting slot 15
It falls 19 inner surface of face to be in contact with unmanned plane horn supporting leg bottom, supporting leg stress falls downward, which drops into, supports progress
Support, and the landing face on both sides 19 namely V-type shape be arranged the reason of, supporting leg is limited, effective guarantee unmanned plane
The position of landing.
In addition, landing face relative to the angle A supported at 30 degree to 80 degree, accordingly even when unmanned plane horn bottom supporting leg
From deviating from the position farther out, also can guarantee that effective drop into supports, and ensure that the precision approach of unmanned plane, limit groove height H are variable
Change, occurrence depends on the height of unmanned plane supporting leg.
The variable-width that limit trench bottom supports, occurrence depend on the width of unmanned plane supporting leg, it is preferable that
The width is identical as the diameter of unmanned plane supporting leg.
Limiting slot card slot variable-width, occurrence depend on unmanned plane horn diameter, it is preferable that the width with
The diameter of unmanned plane horn is identical.
If the floor projection distance in face of landing is L, L=H/TanA, limits groove height H and angle A mutually restricts.
In order to realize the limitation to wing bottom supporting leg, the limiting slot 15 be U-shaped shape or funnel shaped or
Top be it is rectangular, lower part is funnel shaped.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (8)
1. a kind of battery clamp device independently continued a journey applied to unmanned plane, characterized in that including clip claw mechanism, the clamping jaw machine
Structure includes clamping jaw ontology, and the clamping jaw ontology is connected with the first gripper jaw part and the second gripper jaw part, first gripper jaw part
It is fixedly connected with the first handgrip, second gripper jaw part and the second handgrip are fixedly connected；First handgrip and the second handgrip
Opposite face be equipped with zigzag block, first handgrip or the second handgrip are equipped with and press with what cell switch cooperated
Block, the sawtooth sheet body of the setting of battery side and the cooperation of zigzag block；
The clamping jaw ontology is chimeric to be set in fixture block, and the fixture block is with the card slot with clamping jaw body fits.
2. battery clamp device as described in claim 1, characterized in that the clamping jaw ontology also passes through fastener and fixture block is solid
Fixed connection.
3. battery clamp device as described in claim 1, characterized in that the clip claw mechanism is connect with power device.
4. battery clamp device as described in claim 1, characterized in that first handgrip cooperates with the first gripper jaw part
The first groove of place's setting, the first gripper jaw part are entrenched in the first groove.
5. battery clamp device as claimed in claim 4, characterized in that first gripper jaw part also passes through fastener and
One handgrip is fastenedly connected.
6. battery clamp device as described in claim 1, characterized in that second handgrip cooperates with the second gripper jaw part
The second groove of place's setting, the second gripper jaw part are entrenched in the second groove；Second gripper jaw part also passes through fastener and
Two handgrips are fastenedly connected.
7. a kind of battery replacement device independently continued a journey applied to unmanned plane, characterized in that including any one of such as claim 1-6
The battery clamp device, the battery clamp device are equipped in Y-axis moving mechanism, and the Y-axis moving mechanism is matched
Conjunction is set in Z axis mobile mechanism, and the Z axis mobile mechanism is equipped in X-axis mobile mechanism.
8. the working method of battery replacement device as claimed in claim 7, characterized in that the following steps are included:
(1) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and battery clamp device is driven to be moved to nothing
At man-machine battery location；
Cell switch is touched by motion block on (2) first handgrips or the second handgrip, closes battery；
(3) clip claw mechanism drives the first handgrip and the second handgrip to clamp battery, the sawtooth sheet body of zigzag block and battery side
Cooperation；
(4) X-axis mobile mechanism, Z axis mobile mechanism and Y-axis moving mechanism successively operate, and battery clamp device is driven to be moved to electricity
Battery is returned and is put in battery compartment by Chi Cangchu；
(5) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to another electricity of battery compartment
The position in pond repeats step (3), battery is taken out；
(6) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism drive battery clamp device to be moved to unmanned plane battery compartment
At position, cell switch is touched by motion block, opens battery；
(7) X-axis mobile mechanism, Y-axis moving mechanism and Z axis mobile mechanism return initial position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157192.0A CN106864766B (en) | 2017-03-16 | 2017-03-16 | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710157192.0A CN106864766B (en) | 2017-03-16 | 2017-03-16 | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106864766A CN106864766A (en) | 2017-06-20 |
| CN106864766B true CN106864766B (en) | 2019-09-03 |
Family
ID=59171270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710157192.0A Expired - Fee Related CN106864766B (en) | 2017-03-16 | 2017-03-16 | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106864766B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107320222B (en) * | 2017-08-14 | 2019-01-15 | 侯策 | A kind of intelligent artifucial limb replacement method and its system based on unmanned plane |
| CN107856858B (en) * | 2017-11-09 | 2021-07-27 | 西安宇立航空科技有限公司 | Unmanned aerial vehicle for search and rescue based on ultrasonic detection |
| CN108045580B (en) * | 2018-01-17 | 2023-07-25 | 广东工业大学 | Double unmanned aerial vehicle system for replacing batteries in air butt joint mode |
| CN108382591B (en) * | 2018-02-26 | 2020-08-14 | 河北省科学院应用数学研究所 | Ground-air inspection detection robot system applied to complex environment and operation method |
| CN109094807A (en) * | 2018-08-01 | 2018-12-28 | 深圳市旭发智能科技有限公司 | A kind of unmanned plane battery change system |
| CN111263883A (en) * | 2019-08-02 | 2020-06-09 | 深圳市大疆百旺科技有限公司 | Measuring device |
| CN111038454A (en) * | 2019-12-30 | 2020-04-21 | 山东厚德测控技术股份有限公司 | Unmanned aerial vehicle battery replacement system and closed-loop automatic control method |
| CN113011269B (en) * | 2021-02-23 | 2023-12-05 | 国网安徽省电力有限公司淮南供电公司 | Mechanical clamping jaw and working method for grabbing battery |
| CN115946145B (en) * | 2023-03-10 | 2023-07-14 | 成都时代星光科技有限公司 | Special handle, grabbing mechanism and grabbing system for intelligent battery of unmanned aerial vehicle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104981403A (en) * | 2014-08-08 | 2015-10-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle base station and battery change device therefor |
| CN105014687A (en) * | 2015-08-07 | 2015-11-04 | 东北电力大学 | Mechanical arm with multi-rotor-wing unmanned aerial vehicle |
| CN105857593A (en) * | 2016-05-16 | 2016-08-17 | 苏州金建达智能科技有限公司 | Four-rotor multipurpose flying robot |
| CN106239541A (en) * | 2016-09-20 | 2016-12-21 | 上海未来伙伴机器人有限公司 | A kind of light-duty paw of unmanned plane |
| CN106384797A (en) * | 2016-11-20 | 2017-02-08 | 青海航旭电子科技有限公司 | Uninterrupted power unmanned aerial vehicle (UAV) capable of automatically replacing battery |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204257762U (en) * | 2014-11-12 | 2015-04-08 | 无锡恒康宝光电科技有限公司 | A kind ofly identify and adjust the clamp device of battery pack both positive and negative polarity |
| KR101749453B1 (en) * | 2015-08-26 | 2017-06-21 | 한양대학교 산학협력단 | Drone energy charging station using energy harvested from piezo-electric road |
| CN205468990U (en) * | 2016-04-01 | 2016-08-17 | *** | System is changed to pure electric vehicles group battery |
-
2017
- 2017-03-16 CN CN201710157192.0A patent/CN106864766B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104981403A (en) * | 2014-08-08 | 2015-10-14 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle base station and battery change device therefor |
| CN105014687A (en) * | 2015-08-07 | 2015-11-04 | 东北电力大学 | Mechanical arm with multi-rotor-wing unmanned aerial vehicle |
| CN105857593A (en) * | 2016-05-16 | 2016-08-17 | 苏州金建达智能科技有限公司 | Four-rotor multipurpose flying robot |
| CN106239541A (en) * | 2016-09-20 | 2016-12-21 | 上海未来伙伴机器人有限公司 | A kind of light-duty paw of unmanned plane |
| CN106384797A (en) * | 2016-11-20 | 2017-02-08 | 青海航旭电子科技有限公司 | Uninterrupted power unmanned aerial vehicle (UAV) capable of automatically replacing battery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106864766A (en) | 2017-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106864766B (en) | The battery clamp device and replacement device and method independently continued a journey applied to unmanned plane | |
| CN106864751B (en) | Unmanned plane during flying landing system and method based on image procossing | |
| CN106909167B (en) | Multi-machine multi-station combined three-dimensional task system and method | |
| CN106628211B (en) | Ground control formula unmanned plane during flying landing system and method based on LED dot matrix | |
| CN207360291U (en) | Unmanned plane takes battery system | |
| CN106886225B (en) | Multifunctional unmanned aerial vehicle intelligent landing station system | |
| CN108045580B (en) | Double unmanned aerial vehicle system for replacing batteries in air butt joint mode | |
| CN207028881U (en) | A kind of unmanned plane shuts down storehouse | |
| CN207078322U (en) | A kind of unmanned plane of continuing a journey for HV Transmission Line Routing Inspection | |
| CN109502039A (en) | A kind of vehicle-mounted unmanned aerial vehicle stops cabinet equipment, automatic replacement battery methods and system | |
| CN112141354A (en) | Mobile nest for automatically replacing battery of small unmanned aerial vehicle and parking apron thereof | |
| CN110605718A (en) | Transformer substation inspection robot system and inspection method | |
| CN113247289A (en) | Automatic recovery of VTOL fixed wing unmanned aerial vehicle machine nest that charges | |
| CN111422369B (en) | Unmanned aerial vehicle automatic airport and control method | |
| CN111547255A (en) | Unmanned aerial vehicle trades electric equipment and unmanned aerial vehicle machine nest | |
| CN110413004A (en) | A kind of accurate landing control method of unmanned plane and system | |
| CN112977862A (en) | Unmanned aerial vehicle wireless charging parking apron | |
| CN110589007B (en) | Heavy-duty industrial-grade multi-rotor unmanned aerial vehicle hangar | |
| CN106864763B (en) | A kind of accurate positioning that auxiliary unmanned plane lands and fixed device | |
| CN109774521B (en) | Unmanned aerial vehicle docking system | |
| CN208868309U (en) | A kind of vehicle-mounted airplane parking area of unmanned plane | |
| CN206984418U (en) | A kind of vehicle-mounted unmanned aerial vehicle landing platform | |
| CN206350071U (en) | A kind of free-standing holder for aerial photographing system | |
| CN216231718U (en) | Intelligent shelter for accurate positioning and battery charging and replacing of unmanned aerial vehicle | |
| CN114889836A (en) | Unmanned aerial vehicle nest |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190903 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |