CN107640079A - A kind of unmanned plane continuation of the journey support method - Google Patents

A kind of unmanned plane continuation of the journey support method Download PDF

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Publication number
CN107640079A
CN107640079A CN201710855244.1A CN201710855244A CN107640079A CN 107640079 A CN107640079 A CN 107640079A CN 201710855244 A CN201710855244 A CN 201710855244A CN 107640079 A CN107640079 A CN 107640079A
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CN
China
Prior art keywords
unmanned plane
cylinder
landing platform
battery
journey
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Granted
Application number
CN201710855244.1A
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Chinese (zh)
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CN107640079B (en
Inventor
杨凌
文朋
冯小淋
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Chaonongli (Zhejiang) Intelligent Technology Co.,Ltd.
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Chengdu Tianqi Technology Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • 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
    • B64F1/02—Ground or aircraft-carrier-deck installations for arresting aircraft, e.g. nets or cables
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles
    • 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
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Transportation (AREA)
  • Zoology (AREA)
  • Environmental Sciences (AREA)
  • Power Engineering (AREA)
  • Wood Science & Technology (AREA)
  • Pest Control & Pesticides (AREA)
  • Insects & Arthropods (AREA)
  • Catching Or Destruction (AREA)
  • Manipulator (AREA)
  • Power-Operated Mechanisms For Wings (AREA)
  • Battery Mounting, Suspending (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

The present invention discloses a kind of unmanned plane continuation of the journey support method, belong to UAV field, unmanned plane is guided to drop on cell on wheels by navigation system, again using cell on wheels as platform, continuation of the journey is provided for unmanned plane to ensure, is specifically included and change battery operation for unmanned plane, dosing operation, the battery to change carry out charging operation；The present invention also has the function that fast and easy is mobile, carries out accompanying support to unmanned plane while a kind of continuation of the journey ensuring method is provided for unmanned plane.

Description

A kind of unmanned plane continuation of the journey support method
Technical field
The present invention relates to plant protection UAV field, more particularly to a kind of unmanned plane continuation of the journey support method.
Background technology
Plant protection unmanned plane is now widely used in farmland field of pesticide delivery because of the advantages of its flying speed is fast, efficiency high.But Be unmanned plane again have loading capacity it is not high the problem of, cause its carry medicine-chest can not load more decoctions, its battery can not Larger voyage is provided, unmanned plane needs frequently to be come and gone between setting, guarantee point, and this causes plant protection unmanned plane to exist The advantages of unmanned plane efficiency high can not be given full play to during operation.
The content of the invention
The present invention is intended to provide a kind of unmanned plane continuation of the journey support method, for solving the guarantor in the unmanned machine operation of existing plant protection Hinder the problem of efficiency is low.
To reach above-mentioned purpose, the technical solution adopted by the present invention is as follows：A kind of unmanned plane continuation of the journey support method, using car Carry base station to ensure unmanned plane, comprise the following steps：
Step 1：Dropped to using satellite navigation system guiding unmanned plane on cell on wheels；
Step 2：Guarantee operation is carried out to unmanned plane on cell on wheels.
Wherein, the guarantee operation includes carrying out dosing operation to unmanned plane using chemicals dosing plant；
The cell on wheels includes vehicle-mounted landing platform, and vehicle-mounted landing platform includes support, rising installed in cradle top Platform drops, and the landing platform is provided with unmanned plane guiding landing-gear, undercarriage locking device；The undercarriage locking device Including keeper, positioning foot rest, for keeper on landing platform, keeper upper surface is not higher than landing platform upper surface, fixed Position part upper surface is provided with blind hole, and keeper side wall is provided with pin-and-hole, and pin-and-hole connects with blind hole, bearing pin is provided with pin-and-hole, bearing pin is by fixed Position cylinder driving, positioning cylinder are arranged on landing platform lower surface, and the positioning foot rest is in the blind hole, positioning foot rest Top is provided with anchor ear, and positioning foot rest side wall is provided with fixing hole, and fixing hole is adapted with bearing pin；
The chemicals dosing plant includes explosive box, medicine-injecting connector, and medicine-injecting connector connects explosive box, the injection by drug liquid tube Joint is adapted with unmanned plane medicine-chest medicine-pouring port, and medicine-injecting connector is driven by injection cylinder, and injection cylinder is arranged on landing platform.
Wherein, the guarantee operation takes cell apparatus including use and unmanned plane is carried out to change battery operation；
The cell apparatus that takes includes gripping body and the lowering or hoisting gear for moving up and down gripping body, described Lowering or hoisting gear is arranged on the support below landing platform, and the gripping body includes horizontal mobile mechanism, vertical shift mechanism With the clamping device for clamping battery, the horizontal mobile mechanism is arranged on lowering or hoisting gear, the vertical shift mechanism peace Vertical shift mechanism is set to be moved horizontally relative to lowering or hoisting gear mounted in horizontal mobile mechanism, the clamping device is arranged on vertical Clamping device is set to be moved up and down relative to horizontal mobile mechanism in travel mechanism.
Preferably, openable skylight is additionally provided with the landing platform, the louver opening mechanism includes connection skylight The vertical cylinder of lower surface, the horizontal air cylinder being connected with vertical cylinder, horizontal air cylinder are arranged on landing platform.
Further, unmanned plane is additionally provided with the landing platform and stops positioner, the unmanned plane stops positioning dress Put including localization handspike, the localization handspike includes two relative horizontal push rods, two relative longitudinal push rods, horizontal push rod Diameter parallel laterally pushed away in the longitudinal direction of landing platform in the horizontal direction of landing platform, the diameter parallel of longitudinal push rod Bar is slided along the longitudinal direction, and longitudinal push rod is slided in transverse direction, and the skylight is located in the region that localization handspike is enclosed.
Wherein, taking battery for unmanned plane also includes step 3：The battery changed is charged using charging device；
The charging device includes charging rack and charging equipment, has battery to insert hole position on charging rack, battery on charging rack The both sides of inserting hole position are equipped with the battery holder being adapted to battery.
Preferably, the satellite navigation system is gps systems and/or dipper system.
Preferably, the vehicle-mounted landing platform also includes unmanned plane detection device, and the unmanned plane detection device includes pair Formula grating is penetrated, the correlation grating is arranged on two opposite edges of landing platform.
Preferably, the landing platform is provided with several pod apertures.
Further, the cell on wheels also includes base station control center, and the base station control center connects correlation light Grid, all cylinders.
The course of work of the unmanned plane continuation of the journey support method of the present invention is as follows, comprises the following steps：
First, after unmanned plane battery electric quantity is less than setting value less than setting value and/or unmanned plane medicine-chest dose, satellite navigation System guides unmanned plane is dropped on cell on wheels；
Secondly, it is powered up and/or dosing operation for unmanned plane；
Finally, unmanned plane is let fly away, car is transferred to next place and awaited orders.
Wherein, concretely comprising the following steps for battery operation is changed：
Step 21：Unmanned plane stops detection device and has detected unmanned plane landing, and sends nobody to base station control center Machine falling signal；
Step 22：Base station control center control push rod cylinder action, unmanned plane is pushed at skylight；
Step 23：Base station control center control positioning cylinder action, locks unmanned plane undercarriage；
Step 24：Base station control center control vertical cylinder, horizontal air cylinder successively act, and open skylight；
Step 25：Base station control center control takes cell apparatus and removes unmanned machine battery；
Step 26：Base station control center control takes cell apparatus and new battery is installed on unmanned plane.
Wherein, dosing operation concretely comprises the following steps：
Step 21：Unmanned plane stops detection device and has detected unmanned plane landing, and sends nobody to base station control center Machine falling signal；
Step 22：Base station control center control push rod cylinder action, unmanned plane is pushed at skylight；
Step 23：Base station control center control positioning cylinder action, locks unmanned plane undercarriage；
Step 24：Stand control center control vertical cylinder, horizontal air cylinder successively act, and open skylight；
Step 25：It is unmanned plane medicine-chest dosing that base station control center, which controls chemicals dosing plant,.
Wherein, step 3 concretely comprises the following steps：
Step 31：Base station control center control takes cell apparatus and the battery removed is put to the battery inserting to charging rack In battery holder in room；
Step 32：It is the battery charging removed that base station control center, which controls charging equipment,.
The present invention is simple in construction, and installation is easily manufactured, after unmanned plane returns, can carry out taking battery, injection behaviour automatically Make, while also there is charging device, degree of integration is high, can carry out multi-faceted guarantee to unmanned plane.
Brief description of the drawings
Fig. 1 is architecture of base station schematic diagram of the present invention；
Fig. 2 is lifting gear structural representation；
Fig. 3 is Fig. 2 top view；
Fig. 4 is that lifting gear removes the top-direction view after the web plate on landing platform；
Fig. 5 is that lifting gear removes the bottom direction view after the web plate on landing platform；
Fig. 6 is vertical cylinder, horizontal air cylinder connection diagram；
Fig. 7 is keeper, positioning foot rest schematic diagram；
Fig. 8 is to take cell apparatus schematic diagram；
Fig. 9 is the structural representation for taking lowering or hoisting gear in cell apparatus；
Figure 10 is the partial schematic diagram of lowering or hoisting gear；
Figure 11 is the structural representation for taking gripping body in cell apparatus；
Figure 12 is medicine storage device structural representation；
Figure 13 is the explosive box sectional view of medicine storage device；
Figure 14 is water suction joint design schematic diagram；
Figure 15 is charging device structural representation；
Figure 16 is the structural representation of battery；
Figure 17 is the structural representation of battery holder；
Figure 18 is that battery inserts the schematic diagram of battery holder and battery when in battery inserting hole position；
Figure 19 is flow chart of the method for the present invention.
In figure：1- supports, 2- landings platform, 31- keepers, 310- blind holes, 311- pin-and-holes, 312- bearing pins, 32- angles Frame, 320- anchor ears, 321- fixing holes, 4- skylights, 5- transverse directions push rod, 6- longitudinal push rods, 7- batteries, 8- gratings, 50- are longitudinally sliding Rail, 60- horizontal slide rails, 81- vertical cylinders, 810- horizontal slide rails, 82- horizontal air cylinders, the installing plates of 11- first, 12- second are installed Plate, the first vertical guide pillars of 13-, 14- rectangle frames, the cylinders of 15- first, 16- clutch shaft bearings, the first vertical translations of 17- mechanism, 18- Second vertical translation mechanism, the installing plates of 21- the 3rd, the second vertical guide pillars of 22-, the cylinders of 23- second, 24- second bearings, in 25- The vertical installing plate of slider cylinder B, 34- the 4th of vertical slider cylinder A, 33- of lower plate, 30-, 35- battery cases, 36- grip blocks, 37- Jig arm, 38- chutes, 39- gripping bodies, 40- first levels slider cylinder, 26- casings, 27- water suction joint, 271- suckers, 260- grooves, 261- pipelines hole, 262- access holes, 263- cover plates, 264- medicine-chests mouth, 265- medicine chest covers, 29- liquid level tubes, 28- are stirred Axle, 282- stirring motors, 283- shaft couplings, 281- stirring vanes, 41- charging racks, 42- charging equipments, 43- batteries is mixed to fix Device, 44- batteries inserting hole position, 45- battery containers, 46- guide ledges, 47- rectangular shaped rims, 48- support posts, 49- horizon bars, 51- baffle plates, 52- support bases, 53- rollers, 54- card articles, 55- upper plates, 56- lower plates, 57- linking arms, 58- necks, 59- positioning are recessed Groove.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with accompanying drawing, the present invention is entered Row is further described.
A kind of unmanned plane continuation of the journey support method, is ensured to unmanned plane using cell on wheels, comprised the following steps：
Step 1：Dropped to using satellite navigation system guiding unmanned plane on cell on wheels；
Step 2：Guarantee operation is carried out to unmanned plane on cell on wheels.
Wherein, the guarantee operation includes carrying out dosing operation to unmanned plane using chemicals dosing plant；
As shown in Figure 1, Figure 7 shows, the cell on wheels includes vehicle-mounted landing platform, and vehicle-mounted landing platform includes support 1, installation Landing platform 2 at the top of support 1, the landing platform 2 are provided with unmanned plane guiding landing-gear, undercarriage locking device； The undercarriage locking device includes keeper 31, positioning foot rest 32, and keeper 31 is on landing platform 2, on keeper 31 Surface is not higher than the upper surface of landing platform 2, and the upper surface of keeper 31 is provided with blind hole 310, and the side wall of keeper 31 is provided with pin-and-hole 311, Pin-and-hole 311 is connected with blind hole 310, and bearing pin 312 is provided with pin-and-hole 311, and bearing pin 312 is driven by positioning cylinder, positioning cylinder installation On the lower surface of landing platform 2, for the positioning foot rest 32 in the blind hole 310, the top of positioning foot rest 32 is provided with anchor ear 320, the side wall of positioning foot rest 32 is provided with fixing hole 321, and fixing hole 321 is adapted with bearing pin；
The chemicals dosing plant includes explosive box, medicine-injecting connector, and medicine-injecting connector connects explosive box, the injection by drug liquid tube Joint is adapted with unmanned plane medicine-chest medicine-pouring port, and medicine-injecting connector is driven by injection cylinder, and injection cylinder is arranged on landing platform.
Wherein, the guarantee operation takes cell apparatus including use and unmanned plane is carried out to change battery operation；
The cell apparatus that takes includes gripping body 39 and the lowering or hoisting gear for moving up and down gripping body, institute Lowering or hoisting gear is stated on the support 1 of the lower section of landing platform 2, the gripping body 39 includes horizontal mobile mechanism, vertical shifting Motivation structure and the clamping device for clamping battery, the horizontal mobile mechanism are arranged on lowering or hoisting gear, the vertical shift Mechanism, which is arranged on horizontal mobile mechanism, makes vertical shift mechanism to be moved horizontally relative to lowering or hoisting gear, the clamping device installation Clamping device is set to be moved up and down relative to horizontal mobile mechanism in vertical shift mechanism.
Openable skylight is additionally provided with the landing platform, the louver opening mechanism includes connection skylight lower surface Vertical cylinder, the horizontal air cylinder being connected with vertical cylinder, horizontal air cylinder are arranged on landing platform.
Unmanned plane is additionally provided with the landing platform and stops positioner, the unmanned plane, which stops positioner, includes positioning Push rod, the localization handspike include two relative horizontal push rods, two relative longitudinal push rods, the diameter parallel of horizontal push rod In the horizontal direction of landing platform, the diameter parallel of longitudinal push rod is in the longitudinal direction of landing platform, horizontal push rod edge longitudinal direction side To slip, longitudinal push rod is slided in transverse direction, and the skylight is located in the region that localization handspike is enclosed.
Wherein, taking battery for unmanned plane also includes step 3：The battery changed is charged using charging device；
The charging device includes charging rack and charging equipment, has battery to insert hole position on charging rack, battery on charging rack The both sides of inserting hole position are equipped with the battery holder being adapted to battery.
The satellite navigation system is gps systems and/or dipper system.
The vehicle-mounted landing platform also includes unmanned plane detection device, and the unmanned plane detection device includes correlation light Grid, the correlation grating are arranged on two opposite edges of landing platform.
The landing platform is provided with several pod apertures.
The cell on wheels also includes base station control center, the base station control center connection correlation grating, Suo Youqi Cylinder.
As shown in figure 19, the course of work of unmanned plane of the invention continuation of the journey support method is as follows, comprises the following steps：
First, after unmanned plane battery electric quantity is less than setting value less than setting value and/or unmanned plane medicine-chest dose, satellite navigation System guides unmanned plane is dropped on cell on wheels；
Secondly, it is powered up and/or dosing operation for unmanned plane；
Finally, unmanned plane is let fly away, car is transferred to next place and awaited orders.
Wherein, concretely comprising the following steps for battery operation is changed：
Step 21：Unmanned plane stops detection device and has detected unmanned plane landing, and sends nobody to base station control center Machine falling signal；
Step 22：Base station control center control push rod cylinder action, unmanned plane is pushed at skylight；
Step 23：Base station control center control positioning cylinder action, locks unmanned plane undercarriage；
Step 24：Base station control center control vertical cylinder, horizontal air cylinder successively act, and open skylight；
Step 25：Base station control center control takes cell apparatus and removes unmanned machine battery；
Step 26：Base station control center control takes cell apparatus and new battery is installed on unmanned plane.
Wherein, dosing operation concretely comprises the following steps：
Step 21：Unmanned plane stops detection device and has detected unmanned plane landing, and sends nobody to base station control center Machine falling signal；
Step 22：Base station control center control push rod cylinder action, unmanned plane is pushed at skylight；
Step 23：Base station control center control positioning cylinder action, locks unmanned plane undercarriage；
Step 24：Stand control center control vertical cylinder, horizontal air cylinder successively act, and open skylight；
Step 25：It is unmanned plane medicine-chest dosing that base station control center, which controls chemicals dosing plant,.
Wherein, step 3 concretely comprises the following steps：
Step 31：Base station control center control takes cell apparatus and the battery removed is put to the battery inserting to charging rack In battery holder in room；
Step 32：It is the battery charging removed that base station control center, which controls charging equipment,.
As shown in Figure 2-5, the push rod is driven by push rod cylinder, specifically, being indulged including one group of transverse shifting cylinder, one group To mobile cylinder.Every group of transverse shifting cylinder includes two transverse shifting cylinders, and two transverse shifting cylinders are vertical with two respectively The slip for making two longitudinal push rods 6 realize horizontal direction is connected to push rod 6；Every group vertically moves cylinder and is vertically moved including two Cylinder, two vertically move cylinder and are connected the cunning for making two horizontal push rods 5 realize longitudinal direction with two horizontal push rods 5 respectively It is dynamic.
The push rod is slidably connected by sliding block, slide rail and landing platform 2, and slide rail is arranged on the lower surface of landing platform 2, Slide rail includes horizontal slide rail 60, longitudinal slide rail 50, and the horizontal push rod 5 slides along longitudinal slide rail 50, and the longitudinal push rod 6 is along horizontal stroke Slided to slide rail 60.Push rod is connected by connector with the sliding block on slide rail.The sliding block that the connector includes being connected with each other connects Fishplate bar, push rod connecting plate, slide attachment plate are connected with sliding block, and push rod connecting plate is connected with push rod.
The horizontal slide rail 60 has two, and two horizontal slide rails 60 are arranged at intervals, and longitudinal push rod 6 is in two horizontal slide rails 60 Upper slip；The longitudinal slide rail 50 has two, and two longitudinal slide rails 50 are arranged at intervals, and horizontal push rod 5 is in two longitudinal slide rails 50 Upper slip.
The transverse shifting cylinder has two groups, and two groups of transverse shifting cylinders connect with the sliding block in two horizontal slide rails 60 respectively Connect；The cylinder that vertically moves has two groups, and two groups vertically move cylinder and are connected respectively with the slide rail in two longitudinal slide rails 50.
The transverse shifting cylinder, the output end for vertically moving cylinder connect corresponding slide attachment plate respectively.
Transverse shifting cylinder, to vertically move cylinder be Rodless cylinder, and the piston of cylinder is connected with slide attachment plate.
Wherein, transverse shifting cylinder arrangement vertically moves cylinder arrangement on sustained height on sustained height, same to make Slide attachment plate under one slide rail does not collide when mobile, between cylinder piston and slide attachment plate and/or sliding block and cunning Be equipped between block connecting plate height not wait increase post.
As shown in figure 8, the clamping device includes the battery case 35 for placing battery 7 and horizontally movable two folders Block 36 is held, for the battery case 35 between two grip blocks 36, each grip block 36 is provided with least one jig arm 37, described The side wall of battery case 35 is provided with the through hole passed through for jig arm 37, and the grip block 36 can move horizontally relative to battery case 35, and two The direction of motion of individual grip block 36 is conversely to grip or loosen battery.
Hung down as shown in figure 9, the lowering or hoisting gear taken in cell apparatus includes the first vertical translation mechanism 17 and second Straight translation mechanism 18, the first vertical translation mechanism 17 include the first installing plate 11, the second installing plate 12, rectangle frame 14, for driving The first cylinder 15 and four first vertical guide pillars 13 that dynamic second installing plate 12 vertically moves, the first vertical lower end of guide pillar 13 It is affixed with the first installing plate 11, there is the through hole A that the gap of guide pillar 13 vertical with first coordinates on the second installing plate 12, and in through hole A Place is provided with the clutch shaft bearing 16 that guide pillar 13 vertical with first is adapted to, and the first vertical upper end of guide pillar 13 passes through clutch shaft bearing 16 and square Shape frame 14 is affixed, and four first vertical guide pillars 13 are separately positioned on four summits of same rectangle, and the first cylinder 15 is installed On the first installing plate 11, the output end of the first cylinder 15 is connected with the second installing plate 12, and the second vertical translation mechanism 18 is installed On the second installing plate 12, four first vertical guide pillars 13 and rectangle frame 14 are located at the periphery of the second vertical translation mechanism 18.
As shown in Figure 10, the second vertical translation mechanism 18 includes the 3rd installing plate 21, for driving the 3rd installing plate 21 to hang down Translation dynamic the second cylinder 23 and four second vertical guide pillars 22, the second vertical upper end of guide pillar 22 and the 3rd installing plate 21 are affixed, There is the through hole B that the gap of guide pillar 22 vertical with second coordinates on second installing plate 12, and lead vertical with second is installed at through hole B The second bearing 24 that post 22 is adapted to, the second vertical lower end of guide pillar 22 pass through second bearing 24, and four second vertical guide pillars 22 are distinguished It is arranged on four summits of same rectangle, the second cylinder 23 is arranged on the second installing plate 12.Second cylinder 23 is positioned at the The lower section of two installing plates 12, the output end of the second cylinder 23 pass perpendicularly through the second installing plate 12 and are connected with the 3rd installing plate 21, the The piston rod (not shown in figure can) of two cylinders 23 is directly connected with the 3rd installing plate 21, can also pass through rod member (not shown) It is connected with the 3rd installing plate 21.The lower section of second installing plate 12 is interval with interior lower plate 5625, second bearing 24 and interior lower plate 5625 Affixed, the lower end of second bearing 24 passes through interior lower plate 5625.
Wherein, the first cylinder 15 has two, and the second cylinder 23 has two, the first installing plate 11, the second installing plate 12 and Three installing plates 21 are rectangular slab.
Gripping body 39 is arranged on the 3rd installing plate 21, in the presence of the first cylinder 15, the second vertical translation mechanism 18 and gripping body 39 moved up and down with the second installing plate 12 along the first vertical guide pillar 13, realize the first order liter of lowering or hoisting gear Drop.In the presence of the second cylinder 23, the 3rd installing plate 21 and gripping body 39 are relative to the first vertical translation mechanism about 17 It is mobile, realize the second level lifting of lowering or hoisting gear.
Horizontal mobile mechanism is arranged on the 3rd installing plate 21, and horizontal mobile mechanism includes first level slider cylinder 40, Vertical shift mechanism includes vertical slider cylinder A30 and vertical slider cylinder B33, and first level slider cylinder 40 is arranged on the 3rd On installing plate 21, vertical slider cylinder A30 is arranged on the slide unit of first level slider cylinder 40, and vertical shift mechanism has two Individual, Liang Ge vertical shifts mechanism is respectively arranged on the both sides of the slide unit of first level slider cylinder 40.Vertical slider cylinder B33 is arranged on On vertical slider cylinder A30 slide unit, clamping device is on vertical slider cylinder B33 slide unit.
Clamping device includes the 4th installing plate 34,35, two grip blocks 36 of battery case for placing battery 7 and difference Two horizontal sliding table cylinder A of two grip blocks 36 are driven, grip block 36 is on horizontal sliding table cylinder A slide unit；It is described Battery case 35 is arranged on the 4th installing plate 34, and the 4th installing plate 34 is arranged on two vertical slider cylinder B33 slide unit, and two Individual second horizontal sliding table cylinder is separately mounted on two vertical slider cylinder B33 slide unit.The battery case 35 is located at two Between grip block 36, each grip block 36 is provided with least one jig arm 37, and the side wall of the battery case 35, which is provided with, supplies jig arm 37 The through hole passed through, the direction of motion of two grip blocks 36 is conversely to grip or loosen battery 7.
Second horizontal sliding table cylinder is located at the lower section of the 4th installing plate 34, and jig arm 37 is located at the top of the 4th installing plate 34, There is the chute 38 being adapted to grip block 36 on 4th installing plate 34.The direction of motion of grip block 36 and first level slide unit gas The sliding motion direction of the slide unit of cylinder 40 is vertical.
As shown in figure 15, charging rack 41 includes four support posts 48 of rectangular shaped rim 47 and the lower section of rectangular shaped rim 47, square Shape frame 47 and support post 48 are affixed, and at least one horizon bar 49, horizon bar 49 and rectangle are provided with rectangular shaped rim 47 Two sides of frame 47 are parallel, and the both ends of horizon bar 49 and rectangular shaped rim 47 are affixed, between adjacent two horizon bars 49 and/or water Battery inserting hole position 44 is formed between flat bar 49 and rectangular shaped rim 47.The radical of horizon bar 49 can be arranged as required to, horizon bar 49 have 1,2 or a plurality of.
Wherein, rectangular shaped rim 47 is rectangle, and horizon bar 49 is parallel with the short side of rectangular shaped rim 47, the both ends of horizon bar 49 It is affixed with the long side of rectangular shaped rim 47.Charging rack 41 also includes the baffle plate 51 being vertically arranged, and baffle plate 51 pushes up located at rectangular shaped rim 47 Portion is simultaneously affixed with the long side of rectangular shaped rim 47, and charging equipment 42 is located between baffle plate 51 and battery inserting hole position 44.Baffle plate 51 is Rectangle, the length of the long side of baffle plate 51 and the equal length of the long side of rectangular shaped rim 47.
The number of battery inserting hole position 44 is even number, and each two battery inserting hole position 44 is furnished with a charging equipment 42.One There is individual battery inserting hole position 44, charging equipment 42 has individual on individual charging rack 41.As shown in figure 17, battery holder 43 includes support Seat 52 and the roller 53 being in rolling contact for battery, support base 52 are arranged on charging rack 41, and roller 53 is arranged on support base 52 On, the top surface of support base 52 is provided with the card article 54 being used for the 58 complementary clamping of neck of the side of battery 7, and card article 54 stretches out upwards, blocks Bar 54 is interval with two, and roller 53 is between two card articles 54 and positioned at the lower section of card article 54, axis and the level of roller 53 Face is parallel, roller 53 at least one.The number of roller 53 can be arranged as required to as 1,2 or multiple.The material of roller 53 Matter is the materials such as natural gum, rubber, has certain pliability.
As shown in figure 16, charging device also includes battery 7, and battery 7 includes battery container 45, battery container 45 it is relative two It is equipped with two fixed structures with two 54 complementary clampings of card article on side, two fixed structure intervals on same side are set Put, fixed structure includes downward opening neck 58.
The guide ledges 46 being adapted to roller 53 are provided with battery container 45 between two necks 58 of same side, are oriented to Boss 46 is vertically arranged, and the outer surface of guide ledges 46 is provided with least one detent 59, and the cell wall of detent 59 is and rolling The cylinder of 53 outer surfaces adaptation is taken turns, the axis and plane-parallel of detent 59, detent 59 is through guide ledges 46 Two sides.
Roller 53 has at least one row, often shows two rollers 53, the roller of same row is arranged at intervals about 53, guide ledges 46 number is equal with the columns of roller 53, there is two detents 59 in each guide ledges 46, and roller 53 is parallel to be provided with two Row, often show two rollers 53, the roller of same row is arranged at intervals about 53, and guide ledges 46 are parallel to be provided with two, each leads Have on to boss 46 the distance between two detents 59, two rollers 53 of same row with same guide ledges 46 The distance between two detents 59 are equal.
Roller 53 is parallel to be provided with two row, and guide ledges 46 are parallel to be provided with two.Support base 52 includes upper plate 55 and lower plate 56, Upper plate 55 is linked together with lower plate 56 by two linking arms 57, and the bottom of linking arm 57 and lower plate 56 are affixed, linking arm 57 Top stretches out upper plate 55 and forms card article 54 upwards.Roller 53 both between upper plate 55 and lower plate 56, also was located at two linking arms Between 57.Two rollers 53 are mounted on upper plate 55 and lower plate 56.Mounting hole is reserved with upper plate 55 and lower plate 56.
As shown in figure 18, in use, battery 7 is placed in battery inserting room 44, battery holder 43 just can pass through card Bar 54, roller 53 fix battery.
As shown in figs. 12-14, the explosive box is arranged on the rectangular frame of the bottom of support 1, and explosive box includes rectangle Casing 26, the top of casing 26 are provided with circular pipeline hole 261 and circular medicine-chest mouth 264, and medicine-chest mouth 264 passes through medicine chest cover 265 Closing, medicine chest cover 265 are bolted with casing 26, and the upper surface of the bottom surface of casing 26 has to external groove 260, the groove 260 is cut the turriform of falling of point, and four sides of the tower are identical, and the bottom of groove 260 is provided with water suction joint 27, and absorb water joint 27 Top be pagoda-shaped, the lower end of water suction joint 27 is provided with screw thread, and the bottom of groove 260 is fixed with nut, and the joint 27 that absorbs water passes through Nut is connected with groove 260, and drug liquid tube is connected through the pipeline hole 261 with the top for the joint 27 that absorbs water, and is absorbed water under joint 27 Portion's side wall is uniformly provided with the three circumferentially distributed suckers 271 of row, and the composition of each two sucker 271 one arranges, and six suckers 271 are equal Not higher than the bottom surface of casing 26；Described also to include liquid level tube 29, the liquid level tube 29 is provided with the rear wall of casing 26, liquid level tube 29 Both ends be respectively communicated with the upper and lower part of casing 26, the scale of liquid level tube 29 is located at outside casing 26；The right side of the casing 26 The bottom of wall is provided with access hole 262, and access hole 262 is closed by cover plate 263, and cover plate 263 is bolted with casing 26, lid Sealing ring is provided between plate 263 and casing 26；Bottom in casing 26 is provided with stirring vane 281, and stirring vane 281 is axial-flow type Blade, stirring vane 281 are connected with agitating shaft 28, and the top of agitating shaft 28 is connected through the top of casing 26 with stirring motor 282, The top of casing 26 is provided with motor mount, and stirring motor 282 is arranged on motor mount, stirring motor 282 and agitating shaft Shaft coupling 283 is provided between 28；The top of the casing 26 is additionally provided with pump, the drug liquid tube by pump connect water suction joint 27, Medicine-injecting connector.
As shown in fig. 6, the skylight 4 is web plate, the lower section of the skylight 4 is provided with vertical cylinder 81, horizontal air cylinder 82, erects The output end of straight cylinder 81 is connected with the lower surface of skylight 4, and vertical cylinder 81 drives skylight 4 to make movement in vertical direction, horizontal gas The output end of cylinder 82 is connected with the cylinder body of vertical cylinder 81, and horizontal air cylinder 82 drives vertical cylinder 81 to make horizontal motion, water The cylinder body of flat cylinder 82 is connected with the lower surface of landing platform 2.Also include horizontal slide rail 810, horizontal slide rail 810 is put down installed in landing On the support 1 of the lower section of platform 2, the cylinder body of the vertical cylinder 81 is arranged on the sliding block on horizontal slide rail 810.
The vertical cylinder 81, horizontal slide rail 810 respectively have two, and two vertical cylinders 81 are symmetrically located under skylight 4 Side, described two vertical cylinders 81 are connected with horizontal air cylinder 82.
Two skylights 4 are provided with opening on the landing platform, two skylights 4 close the opening, two days side by side The direction of motion is opposite in the horizontal direction for window 4.
Landing platform 2 around the skylight 4 is provided with keeper 31, and the upper surface of the keeper 31 is not higher than The upper surface of platform 2 drops, and the top of keeper 31 is provided with blind hole 310, and the side wall of keeper 31 is provided with pin-and-hole 311, pin-and-hole 311 In the lower section of landing platform 2, pin-and-hole 311 is intersected vertically with blind hole 310, and bearing pin 312 is provided with pin-and-hole 311.Set in the blind hole 310 There is positioning foot rest 32, the top of positioning foot rest 32 is provided with anchor ear 320, and the diameter parallel of anchor ear 320 is in landing platform 2, positioning foot rest 32 side wall is provided with fixing hole 321, and the fixing hole 321 is adapted with bearing pin 312.The bearing pin 312 is driven by positioning cylinder, As shown in Figure 7.
The keeper 31 can have multiple, and the position of keeper 31 should be corresponding with unmanned plane undercarriage.
As shown in figure 1, grating 8 is equipped with two opposite edges of the landing platform 2, the linker stand control of grating 8 Center, base station control center control the cylinder, motor, pump.The cylinder is connected with air valve, and source of the gas connects gas by air valve Cylinder, the base station control center are connected with air valve；The landing platform 2 is provided with several pod apertures, and the landing platform 2 includes Three blocks of web plates, three blocks of web plates are included positioned at the middle web plate at the middle part of landing platform 2 and positioned at the side of middle web plate both sides Side web plate, the middle web plate are provided with opening, and for skylight 4 in the opening, skylight 4 is mesh-plate structure.
The UAV System Utilization Procedure of the present invention, comprises the following steps：
After step 1, unmanned plane battery electric quantity are less than setting value less than setting value and/or unmanned plane medicine-chest dose, nothing is guided Man-machine landing；
Step 2, it is powered up and/or dosing operation for unmanned plane；
Step 3, let unmanned plane fly away, car is transferred to next place and awaited orders.
In step 1, concretely comprise the following steps：
Step 11：Unmanned plane is positioned by locating module, and calculates unmanned plane during flying route；
Step 12：Dropped to by unmanned plane guiding landing-gear guiding unmanned plane on lifting gear.
In step 2, concretely comprising the following steps for operation is powered up：
Step 21：Unmanned plane stops detection device and has detected unmanned plane landing, and sends nobody to base station control center Machine falling signal；
Step 22：Base station control center control push rod drive mechanism action, driving unmanned plane go out movement to skylight；
Step 23：Base station control center control louver opening mechanism action, opens skylight；
Step 24：Base station control center control takes cell apparatus and removes unmanned machine battery；
Step 25：Base station control center control takes cell apparatus and new battery is installed on unmanned plane.
In step 2, dosing operation concretely comprises the following steps：
Step 21：Unmanned plane stops detection device and has detected unmanned plane landing, and sends nobody to base station control center Machine falling signal；
Step 22：Base station control center control push rod drive mechanism action, driving unmanned plane go out movement to skylight；
Step 23：Base station control center control louver opening mechanism action, opens skylight；
Step 240：It is unmanned plane medicine-chest dosing that base station control center, which controls chemicals dosing plant,.
Also include between step 24 and step 25：
Step 241：Base station control center control, which takes cell apparatus the battery removed is put into the battery to charging rack, inserts Fill in the battery holder in room；
Step 242：It is the battery charging removed that base station control center, which controls charging equipment,.
Also include between the step 22 and step 23：
Step 221：Lock unmanned plane undercarriage.
In use, when firm grating 8 has detected that unmanned plane is dropped on landing platform 2, base station control center is controlled first Push rod cylinder action processed, push rod cylinder make push rod force unmanned plane to be parked in the top of skylight 4 to gathering at skylight 4；Base station controls Center controls vertical cylinder, horizontal air cylinder action again, and skylight 4 is removed；Base station control center then rises lowering or hoisting gear, makes Gripping body 39 rises to certain altitude, and then horizontal sliding table cylinder B, which starts action, makes vertical slider cylinder A30, vertical slide unit Cylinder B33 and clamping device integral level are moved to the underface of the skylight 4 of landing landing platform 2, subsequent vertical slider cylinder Successively action makes the 4th installing plate 34 of clamping device rise to immediately below battery 7 to A30 and vertical slider cylinder B33, now, electricity The bottom of pond 7 is located in battery case 35, and two grip blocks 36 are placed exactly in the both sides of battery 7；Then, horizontal sliding table cylinder A drives The clamping of grip block 36, jig arm 37 are inserted in the blind hole 310 of battery 7, then vertical slider cylinder B33 and vertical slider cylinder A30 Successively action makes clamping device drop to the lower section of landing landing platform 2 and extracts battery 7；After removing battery, manually by new electricity Pond is put into battery case 35, takes reverse battery action, battery is loaded in unmanned plane；Base station control center controls injection cylinder Action, the medicine-pouring port of the medicine-chest of medicine-injecting connector and unmanned plane sky is connected, the pump startup on explosive box, is unmanned plane injection. In injection and taking cell process, to prevent unmanned plane from rocking, base station control center can control positioning cylinder to act, and make bearing pin 312 pass through through hole, and the vertical undercarriage of unmanned plane is fixed in keeper 31, if the undercarriage of unmanned plane is crossbar type , then undercarriage cross bar can be waled with positioning foot rest 32, then drive positioning cylinder to act, with bearing pin 312 by positioning foot rest 32 lockings, equally reach the purpose of fixed unmanned plane.

Claims (10)

  1. The support method 1. a kind of unmanned plane is continued a journey, it is characterised in that：Unmanned plane is ensured using cell on wheels, including it is following Step：
    Step 1：Dropped to using satellite navigation system guiding unmanned plane on cell on wheels；
    Step 2：Guarantee operation is carried out to unmanned plane on cell on wheels.
  2. 2. according to the unmanned plane continuation of the journey support method described in claim 1, it is characterised in that：The guarantee operation includes using dosing Device carries out dosing operation to unmanned plane；
    The cell on wheels includes vehicle-mounted landing platform, and vehicle-mounted landing platform includes support, the landing installed in cradle top is put down Platform, the landing platform are provided with unmanned plane guiding landing-gear, undercarriage locking device；The undercarriage locking device includes Keeper, positioning foot rest, for keeper on landing platform, keeper upper surface is not higher than landing platform upper surface, keeper Upper surface is provided with blind hole, and keeper side wall is provided with pin-and-hole, and pin-and-hole connects with blind hole, is provided with bearing pin in pin-and-hole, bearing pin is by positioning gas Cylinder is driven, and positioning cylinder is arranged on landing platform lower surface, and the positioning foot rest is in the blind hole, positioning foot rest top Provided with anchor ear, positioning foot rest side wall is provided with fixing hole, and fixing hole is adapted with bearing pin；
    The chemicals dosing plant includes explosive box, medicine-injecting connector, and medicine-injecting connector connects explosive box, the medicine-injecting connector by drug liquid tube It is adapted with unmanned plane medicine-chest medicine-pouring port, medicine-injecting connector is driven by injection cylinder, and injection cylinder is arranged on landing platform.
  3. 3. according to the unmanned plane continuation of the journey support method described in claim 1 or 2, it is characterised in that：The guarantee operation includes using Cell apparatus is taken unmanned plane is carried out to change battery operation；
    The cell apparatus that takes includes gripping body and the lowering or hoisting gear for moving up and down gripping body, the lifting Device is arranged on the support below landing platform, and the gripping body includes horizontal mobile mechanism, vertical shift mechanism and use In the clamping device of clamping battery, the horizontal mobile mechanism is arranged on lowering or hoisting gear, and the vertical shift mechanism is arranged on Horizontal mobile mechanism makes vertical shift mechanism to be moved horizontally relative to lowering or hoisting gear, and the clamping device is arranged on vertical shift Clamping device is set to be moved up and down relative to horizontal mobile mechanism in mechanism.
  4. 4. according to the unmanned plane continuation of the journey support method described in claim 2, it is characterised in that：Being additionally provided with the landing platform to open The skylight opened, the louver opening mechanism include the vertical cylinder of connection skylight lower surface, the horizontal gas being connected with vertical cylinder Cylinder, horizontal air cylinder are arranged on landing platform.
  5. 5. according to the unmanned plane continuation of the journey support method described in claim 4, it is characterised in that：Nobody is additionally provided with the landing platform Machine stops positioner, and the unmanned plane, which stops positioner, includes localization handspike, and the localization handspike is relative including two Horizontal push rod, two relative longitudinal push rods, the diameter parallel of horizontal push rod in the horizontal direction of landing platform, longitudinal push rod Diameter parallel is slided along the longitudinal direction in the longitudinal direction of landing platform, horizontal push rod, and longitudinal push rod is slided in transverse direction, institute Skylight is stated to be located in the region that localization handspike is enclosed.
  6. The support method 6. unmanned plane according to claim 3 is continued a journey, it is characterised in that：Also include step 3：Filled using charging Put and the battery changed is charged；
    The charging device includes charging rack and charging equipment, has battery to insert hole position on charging rack, and battery inserts on charging rack The both sides of hole position are equipped with the battery holder being adapted to battery.
  7. The support method 7. unmanned plane according to claim 1 is continued a journey, it is characterised in that：The satellite navigation system is gps System and/or dipper system.
  8. The support method 8. unmanned plane according to claim 2 is continued a journey, it is characterised in that：The vehicle-mounted landing platform also includes Unmanned plane detection device, the unmanned plane detection device include correlation grating, and the correlation grating is arranged on landing platform Two opposite edges.
  9. The support method 9. unmanned plane according to claim 2 is continued a journey, it is characterised in that：The landing platform is provided with several Pod apertures.
  10. The support method 10. unmanned plane according to claim 8 is continued a journey, it is characterised in that：The cell on wheels also includes base Stand control center, the base station control center connection correlation grating, all cylinders.
CN201710855244.1A 2017-05-19 2017-09-20 Unmanned aerial vehicle endurance guarantee method Active CN107640079B (en)

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CN201710851248.2A Expired - Fee Related CN107697314B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle take-off and landing device
CN201710851229.XA Active CN107719329B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle support system
CN201710855244.1A Active CN107640079B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle endurance guarantee method
CN201721205975.3U Active CN207243451U (en) 2017-05-19 2017-09-20 A kind of medicine-filling device
CN201721205974.9U Active CN207141422U (en) 2017-05-19 2017-09-20 A kind of unmanned plane landing platform
CN201721214696.3U Active CN207360291U (en) 2017-05-19 2017-09-20 Unmanned plane takes battery system
CN201710857322.1A Active CN107651205B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle location battery system
CN201721208723.6U Active CN207355319U (en) 2017-05-19 2017-09-20 A kind of automatic liquid medicine injection system
CN201721214766.5U Active CN207360602U (en) 2017-05-19 2017-09-20 Unmanned plane battery gripping body
CN201721211872.8U Active CN207360600U (en) 2017-05-19 2017-09-20 Unmanned plane battery grips mechanism action device

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CN201721205975.3U Active CN207243451U (en) 2017-05-19 2017-09-20 A kind of medicine-filling device
CN201721205974.9U Active CN207141422U (en) 2017-05-19 2017-09-20 A kind of unmanned plane landing platform
CN201721214696.3U Active CN207360291U (en) 2017-05-19 2017-09-20 Unmanned plane takes battery system
CN201710857322.1A Active CN107651205B (en) 2017-05-19 2017-09-20 Unmanned aerial vehicle location battery system
CN201721208723.6U Active CN207355319U (en) 2017-05-19 2017-09-20 A kind of automatic liquid medicine injection system
CN201721214766.5U Active CN207360602U (en) 2017-05-19 2017-09-20 Unmanned plane battery gripping body
CN201721211872.8U Active CN207360600U (en) 2017-05-19 2017-09-20 Unmanned plane battery grips mechanism action device

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